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Linux/AWR1642BOOST: ROS Rvis not displaying points

Garrett Hall
Prodigy 90 points
Part Number: AWR1642BOOST
Other Parts Discussed in Thread: UNIFLASH, IWR1642, AWR1642

Tool/software: Linux

Hi Guys,

I am having trouble getting points to be displayed in Rviz.

AWR1642BOOST ES2.0 (502AC)

SDK 2.0

I have reflashed the device using UniFlash to get the  SDK OOB Demo working in the Google Chrome browser. The OOB demo works for both SDK 2.0 and SDK 2.1.

I can run the roslaunch command without getting any errors. All of my commands register as successful. My D3 light is on. I have tried power cycling of the device and power cycling of the system. I have also added the "lowPower 0 1' command to the .cfg file. I will include the CLI log of running the roslaunch command, a picture of the Rviz window, and the text of the .cfg file.

Thank you for your patience in working with me as I learn more about this device.

Respectfully,

Garrett

************************************************************************************************************************************************************************************

garrett@_:~/catkin_ws/src/ti_mmwave_rospkg$ roslaunch ti_mmwave_rospkg rviz_1642_2d.launch
... logging to /home/garrett/.ros/log/3e7181ec-e279-11e8-9ccc-d89ef3776fdc/roslaunch-oci-30421.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://:39737/

SUMMARY
========

PARAMETERS
 * /mmWave_Manager/command_port: /dev/ttyACM0
 * /mmWave_Manager/command_rate: 115200
 * /mmWave_Manager/data_port: /dev/ttyACM1
 * /mmWave_Manager/data_rate: 921600
 * /mmWave_Manager/max_allowed_azimuth_angle_deg: 90
 * /mmWave_Manager/max_allowed_elevation_angle_deg: 90
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig)
    mmWave_Manager (ti_mmwave_rospkg/ti_mmwave_rospkg)
    rviz (rviz/rviz)
    static_tf_map_to_base_radar_link (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [30431]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3e7181ec-e279-11e8-9ccc-d89ef3776fdc
process[rosout-1]: started with pid [30444]
started core service [/rosout]
process[mmWave_Manager-2]: started with pid [30452]
process[mmWaveQuickConfig-3]: started with pid [30462]
[ INFO] [1541587102.572424664]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/garrett/catkin_ws/src/ti_mmwave_rospkg/cfg/1642_2d.cfg
process[static_tf_map_to_base_radar_link-4]: started with pid [30463]
[ INFO] [1541587102.575848627]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] has not been advertised, waiting...
process[rviz-5]: started with pid [30474]
[ INFO] [1541587102.593251092]: Initializing nodelet with 12 worker threads.
[ INFO] [1541587102.595971154]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1541587102.595994357]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1541587102.598098709]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1541587102.598112932]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1541587102.598119482]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1541587102.598125025]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1541587102.617266218]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] is now available.
[ INFO] [1541587102.617487042]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************'
[ INFO] [1541587102.617631822]: mmWaveQuickConfig: Ignored blank or comment line: '% Created for SDK ver:01.01'
[ INFO] [1541587102.617774433]: mmWaveQuickConfig: Ignored blank or comment line: '% Created using Visualizer ver:1.1.0.1'
[ INFO] [1541587102.617914143]: mmWaveQuickConfig: Ignored blank or comment line: '% Frequency:77'
[ INFO] [1541587102.618053113]: mmWaveQuickConfig: Ignored blank or comment line: '% Platform:xWR16xx'
[ INFO] [1541587102.618193177]: mmWaveQuickConfig: Ignored blank or comment line: '% Scene Classifier:best_range_res'
[ INFO] [1541587102.618332709]: mmWaveQuickConfig: Ignored blank or comment line: '% Azimuth Resolution(deg):15'
[ INFO] [1541587102.618472360]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Resolution(m):0.044'
[ INFO] [1541587102.618611948]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum unambiguous Range(m):9.08'
[ INFO] [1541587102.618755251]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum Radial Velocity(m/s):5.06'
[ INFO] [1541587102.618908887]: mmWaveQuickConfig: Ignored blank or comment line: '% Radial velocity resolution(m/s):0.64'
[ INFO] [1541587102.619062521]: mmWaveQuickConfig: Ignored blank or comment line: '% Frame Duration(msec):33.333'
[ INFO] [1541587102.619199660]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Detection Threshold (dB):9'
[ INFO] [1541587102.619336604]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Detection Threshold (dB):9'
[ INFO] [1541587102.619471823]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Peak Grouping:disabled'
[ INFO] [1541587102.619607072]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Peak Grouping:disabled'
[ INFO] [1541587102.619743222]: mmWaveQuickConfig: Ignored blank or comment line: '% Static clutter removal:disabled'
[ INFO] [1541587102.619881911]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************'
[ INFO] [1541587102.620129415]: mmWaveQuickConfig: Sending command: 'sensorStop'
[ INFO] [1541587102.621864874]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1541587102.624749440]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Done
mmwDemo:/>'
[ INFO] [1541587102.625663501]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.625952118]: mmWaveQuickConfig: Sending command: 'flushCfg'
[ INFO] [1541587102.626951683]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1541587102.629624511]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Done
mmwDemo:/>'
[ INFO] [1541587102.630561351]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.630930953]: mmWaveQuickConfig: Sending command: 'lowPower 0 1'
[ INFO] [1541587102.631847795]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 1'
[ INFO] [1541587102.634861594]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 1
Done
mmwDemo:/>'
[ INFO] [1541587102.635670496]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.636054734]: mmWaveQuickConfig: Sending command: 'dfeDataOutputMode 1'
[ INFO] [1541587102.637266197]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1541587102.640908470]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Done
mmwDemo:/>'
[ INFO] [1541587102.641736985]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.641995671]: mmWaveQuickConfig: Sending command: 'channelCfg 15 3 0'
[ INFO] [1541587102.643317144]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 3 0'
[ INFO] [1541587102.646777565]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 3 0
Done
mmwDemo:/>'
[ INFO] [1541587102.647670709]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.647926403]: mmWaveQuickConfig: Sending command: 'adcCfg 2 1'
[ INFO] [1541587102.649349184]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[ INFO] [1541587102.652204092]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Done
mmwDemo:/>'
[ INFO] [1541587102.653029489]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.653327578]: mmWaveQuickConfig: Sending command: 'adcbufCfg -1 0 0 1 0'
[ INFO] [1541587102.654541829]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 0 1 0'
[ INFO] [1541587102.658320729]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 0 1 0
Done
mmwDemo:/>'
[ INFO] [1541587102.659226324]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.659488307]: mmWaveQuickConfig: Sending command: 'profileCfg 0 77 39 7 57.14 0 0 70 1 256 5209 0 0 30'
[ INFO] [1541587102.660597292]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 39 7 57.14 0 0 70 1 256 5209 0 0 30'
[ INFO] [1541587102.667041222]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 39 7 57.14 0 0 70 1 256 5209 0 0 30
Done
mmwDemo:/>'
[ INFO] [1541587102.667923065]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.672650183]: mmWaveQuickConfig: Sending command: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1541587102.673693278]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1541587102.677781038]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1541587102.678704950]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.678978680]: mmWaveQuickConfig: Sending command: 'chirpCfg 1 1 0 0 0 0 0 2'
[ INFO] [1541587102.680234711]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 2'
[ INFO] [1541587102.684301873]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 2
Done
mmwDemo:/>'
[ INFO] [1541587102.685183575]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.685519534]: mmWaveQuickConfig: Sending command: 'frameCfg 0 1 16 0 33.333 1 0'
[ INFO] [1541587102.687007720]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 1 16 0 33.333 1 0'
[ INFO] [1541587102.691454911]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 1 16 0 33.333 1 0
Done
mmwDemo:/>'
[ INFO] [1541587102.692415455]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.697470762]: mmWaveQuickConfig: Sending command: 'guiMonitor -1 1 0 0 0 0 0'
[ INFO] [1541587102.698745699]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 0 0 0 0 0'
[ INFO] [1541587102.702906998]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 0 0 0 0 0
Done
mmwDemo:/>'
[ INFO] [1541587102.703711128]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.704023979]: mmWaveQuickConfig: Sending command: 'cfarCfg -1 0 0 8 4 4 0 3072'
[ INFO] [1541587102.705517963]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 0 8 4 4 0 3072'
[ INFO] [1541587102.709867579]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 0 8 4 4 0 3072
Done
mmwDemo:/>'
[ INFO] [1541587102.710754783]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.711081848]: mmWaveQuickConfig: Sending command: 'cfarCfg -1 1 0 4 2 3 0 3072'
[ INFO] [1541587102.712345887]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 0 3072'
[ INFO] [1541587102.716747158]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 1 0 4 2 3 0 3072
Done
mmwDemo:/>'
[ INFO] [1541587102.717605316]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.717914766]: mmWaveQuickConfig: Sending command: 'peakGrouping -1 1 0 0 1 255'
[ INFO] [1541587102.719270675]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping -1 1 0 0 1 255'
[ INFO] [1541587102.723652223]: mmWaveCommSrv: Received response from sensor: 'peakGrouping -1 1 0 0 1 255
Done
mmwDemo:/>'
[ INFO] [1541587102.724748786]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.725075798]: mmWaveQuickConfig: Sending command: 'multiObjBeamForming -1 1 0.5'
[ INFO] [1541587102.726813750]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.5'
[ INFO] [1541587102.731284165]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming -1 1 0.5
Done
mmwDemo:/>'
[ INFO] [1541587102.732270532]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.732620561]: mmWaveQuickConfig: Sending command: 'clutterRemoval -1 0'
[ INFO] [1541587102.733952297]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 0'
[ INFO] [1541587102.737578344]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval -1 0
Done
mmwDemo:/>'
[ INFO] [1541587102.738958427]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.739227610]: mmWaveQuickConfig: Sending command: 'calibDcRangeSig -1 0 -5 8 256'
[ INFO] [1541587102.740798168]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'
[ INFO] [1541587102.745320801]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 0 -5 8 256
Done
mmwDemo:/>'
[ INFO] [1541587102.746158897]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.746454398]: mmWaveQuickConfig: Sending command: 'extendedMaxVelocity -1 0'
[ INFO] [1541587102.747448014]: mmWaveCommSrv: Sending command to sensor: 'extendedMaxVelocity -1 0'
[ INFO] [1541587102.751492306]: mmWaveCommSrv: Received response from sensor: 'extendedMaxVelocity -1 0
Done
mmwDemo:/>'
[ INFO] [1541587102.752370428]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.752628507]: mmWaveQuickConfig: Sending command: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0'
[ INFO] [1541587102.754017601]: mmWaveCommSrv: Sending command to sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0'
[ INFO] [1541587102.761330277]: mmWaveCommSrv: Received response from sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
Done
mmwDemo:/>'
[ INFO] [1541587102.762331777]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.762598062]: mmWaveQuickConfig: Sending command: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'
[ INFO] [1541587102.763727256]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'
[ INFO] [1541587102.769284406]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2
Done
mmwDemo:/>'
[ INFO] [1541587102.770306676]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.770565789]: mmWaveQuickConfig: Sending command: 'sensorStart'
[ INFO] [1541587102.771541089]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
[ INFO] [1541587102.810513689]: mmWaveCommSrv: Received response from sensor: 'sensorStart
Debug: Init Calibration Status = 0x7fe
Done
mmwDemo:/>'
[ INFO] [1541587102.811364596]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1541587102.812160260]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/garrett/catkin_ws/src/ti_mmwave_rospkg/cfg/1642_2d.cfg
[ INFO] [1541587102.814605832]: Configured DataHandler numRangeBins: 256 numDopplerBins: 16 rangeIdxToM: 0.043602 dopplerResToMps: 0.633208
[ INFO] [1541587102.814901847]: DataUARTHandler Read Thread: Port is open
[mmWaveQuickConfig-3] process has finished cleanly
log file: /home/garrett/.ros/log/3e7181ec-e279-11e8-9ccc-d89ef3776fdc/mmWaveQuickConfig-3*.log

************************************************************************************************************************************************************************************

Here is the .cfg file

% ***************************************************************
% Created for SDK ver:01.01
% Created using Visualizer ver:1.1.0.1
% Frequency:77
% Platform:xWR16xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.08
% Maximum Radial Velocity(m/s):5.06
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):9
% Doppler Detection Threshold (dB):9
% Range Peak Grouping:disabled
% Doppler Peak Grouping:disabled
% Static clutter removal:disabled
% ***************************************************************
sensorStop
flushCfg
lowPower 0 1
dfeDataOutputMode 1
channelCfg 15 3 0
adcCfg 2 1
adcbufCfg -1 0 0 1 0
profileCfg 0 77 39 7 57.14 0 0 70 1 256 5209 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
frameCfg 0 1 16 0 33.333 1 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 0 8 4 4 0 3072
cfarCfg -1 1 0 4 2 3 0 3072
peakGrouping -1 1 0 0 1 255
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
sensorStart

************************************************************************************************************************************************************************************

Rviz display. Notice there is no confirmation text next to "Points" check box.

  • 0
    TI__Mastermind 21295 points

    Hi Garrett,

    Please check the ROS Point Cloud Visualizer lab release notes and/or the Industrial Toolbox labs page to see which EVM and mmWave SDK are supported by each lab.  The current lab only supports mmWave SDK v2.0 for IWR1642.  It will be updated in the future to support mmWave SDK v2.1.  Can you try flashing the mmWave SDK demo binary from mmWave SDK v2.0?

    Regards,

    John

  • 0 in reply to JohnH
    Prodigy 90 points

    Hi John,

    Thanks for point out the IWR1642 sensor. I am currently working with a AWR1642 sensor. The requirements listed in many of the documents simply states "TI mmWave 1443 EVM or  TI mmWave  1642 ES2.0 EVM".

    I am using the SDK v2.0 currently. I will be looking to the Automotive Labs also.

    I was following Nitin's advice in this thread which allowed me to use the ROS Rviz Point Cloud Demo. This was before I flashed the AWR.

    Do you know what the AWR1642 ES2.0 comes flashed with from the factory?

    V/R,

    Garrett

  • 0 in reply to Garrett Hall
    TI__Mastermind 21295 points
    Hi Garrett,

    There is no difference between the AWR and IWR image that is flashed on the EVMs from the factory. If the EVM is working successfully with the mmWave Demo Visializer with SDK 2.0 image flashed then it should work with the ROS visualizer as well. Can you verify that nothing else is still connected to the EVM COM ports when trying the ROS visualizer? Are you using a native Ubuntu PC or a Virtual Machine (VM)? If VM, please make sure the mnWave Demo Visualizer has been shut down before starting the ROS visualizer.

    Regards,
    John
  • 0 in reply to JohnH
    Prodigy 90 points

    Thanks John.

    I am using native Ubuntu 16.04.

    I was not able to get the ti ros driver working but I did find a work around through a third party.

    I can now reliably, for the time being, connect to my AWR1642BOOST and visualize the data within RViz.

    Thank you for your help on this issue John. I do appreciate it.

    V/R,

    Garrett