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IWR6843-ISK ES1.0 ROS point cloud

wonyoung lee
Prodigy 20 points
Part Number: IWR6843ISK

i have problem with running ISK6843 on ros kinetic environment

i followed instruction in mmwave industrial toolbox v3.6.2 used ros package inside it

i flashed SDK v3.2.0.4 on my board.

power supplied through barrel connector(5V 3A)

ros environment is set correct i think.

i used command roslaunch ti_mmwave_rospkg rviz_6843_2d.launch.

and i got this message below.(plz check the log file(txt))

how can i solve it.

Thanks.

Fullscreen 6843_err.txt Download 
[ INFO] [1580394679.853790601]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wlee/catkin_ws/src/ti_mmwave_rospkg/cfg/6843_2d.cfg
[ INFO] [1580394679.857503242]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] has not been advertised, waiting...
[ INFO] [1580394679.899133641]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] is now available.
[ INFO] [1580394679.899401807]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************'
[ INFO] [1580394679.899666267]: mmWaveQuickConfig: Ignored blank or comment line: '% Created for SDK ver:03.00'
[ INFO] [1580394679.899821133]: mmWaveQuickConfig: Ignored blank or comment line: '% Created using Visualizer ver:3.0.0.1'
[ INFO] [1580394679.899986620]: mmWaveQuickConfig: Ignored blank or comment line: '% Frequency:60.25'
[ INFO] [1580394679.900159390]: mmWaveQuickConfig: Ignored blank or comment line: '% Platform:xWR68xx'
[ INFO] [1580394679.900348463]: mmWaveQuickConfig: Ignored blank or comment line: '% Scene Classifier:best_range_res'
[ INFO] [1580394679.900513855]: mmWaveQuickConfig: Ignored blank or comment line: '% Azimuth Resolution(deg):15'
[ INFO] [1580394679.900665409]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Resolution(m):0.045'
[ INFO] [1580394679.900817588]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum unambiguous Range(m):9.02'
[ INFO] [1580394679.900972040]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum Radial Velocity(m/s):5.06'
[ INFO] [1580394679.901166379]: mmWaveQuickConfig: Ignored blank or comment line: '% Radial velocity resolution(m/s):0.64'
[ INFO] [1580394679.901383186]: mmWaveQuickConfig: Ignored blank or comment line: '% Frame Duration(msec):33.333'
[ INFO] [1580394679.901596135]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Detection Threshold (dB):9'
[ INFO] [1580394679.901808560]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Detection Threshold (dB):9'
[ INFO] [1580394679.902006572]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Peak Grouping:disabled'
[ INFO] [1580394679.902227886]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Peak Grouping:enabled'
[ INFO] [1580394679.902425301]: mmWaveQuickConfig: Ignored blank or comment line: '% Static clutter removal:disabled'
[ INFO] [1580394679.902621338]: mmWaveQuickConfig: Ignored blank or comment line: '% Angle of Arrival FoV: Full FoV'
[ INFO] [1580394679.902830274]: mmWaveQuickConfig: Ignored blank or comment line: '% Range FoV: Full FoV'
[ INFO] [1580394679.903026782]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler FoV: Full FoV'
[ INFO] [1580394679.903217470]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************'
[ INFO] [1580394679.903513297]: mmWaveQuickConfig: Sending command: 'sensorStop'
[ INFO] [1580394679.912035340]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.912412151]: mmWaveQuickConfig: Sending command: 'flushCfg'
[ INFO] [1580394679.917105615]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.917452936]: mmWaveQuickConfig: Sending command: 'dfeDataOutputMode 1'
[ INFO] [1580394679.923275028]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.923578912]: mmWaveQuickConfig: Sending command: 'channelCfg 15 5 0'
[ INFO] [1580394679.929035944]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.929337966]: mmWaveQuickConfig: Sending command: 'adcCfg 2 1'
[ INFO] [1580394679.934053242]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO][ INFO] [1580394679.889324547]: Initializing nodelet with 4 worker threads.
[ INFO] [1580394679.892415716]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1580394679.892431845]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1580394679.894458580]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1580394679.894473645]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1580394679.894479522]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1580394679.894484329]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1580394679.895213880]: DataUARTHandler Read Thread: Port is open
[ INFO] [1580394679.904707464]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1580394679.910789902]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Ignored: Sensor is already stopped

Done

mmwDemo:/>'
[ INFO] [1580394679.913452763]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1580394679.916120465]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Done

mmwDemo:/>'
[ INFO] [1580394679.918694241]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1580394679.922384455]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Done

mmwDemo:/>'
[ INFO] [1580394679.924674780]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 5 0'
[ INFO] [1580394679.928126196]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 5 0
Done

mmwDemo:/>'
[ INFO] [1580394679.930271347]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[ INFO] [1580394679.933171252]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Done

mmwDemo:/>'
[ INFO] [1580394679.937478448]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'
[ INFO] [1580394679.941233882]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 1
Done

mmwDemo:/>'
[ INFO] [1580394679.943467414]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 60.25 48 7 75 0 0 50 1 240 3582 0 0 30'
[ INFO] [1580394679.950002103]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 60.25 48 7 75 0 0 50 1 240 3582 0 0 30
Done

mmwDemo:/>'
[ INFO] [1580394679.952325383]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1580394679.956426397]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Done

mmwDemo:/>'
[ INFO] [1580394679.958655856]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'
[ INFO] [1580394679.962766327]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4
Done

mmwDemo:/>'
[ INFO] [1580394679.965472986]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 1 16 0 33.333 1 0'
[ INFO] [1580394679.969957774]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 1 16 0 33.333 1 0
Done

mmwDemo:/>'
[ INFO] [1580394679.972257576]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'
[ INFO] [1580394679.975358988]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 0
Done

mmwDemo:/>'
[ INFO] [1580394679.977572612]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 0 0 0 0 0'
[ INFO] [1580394679.981750943]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 0 0 0 0 0
Done

mmwDemo:/>'
[ INFO] [1580394679.984125184]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0'
[ INFO] [1580394679.994122047]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0
Error: Maximum value for CFAR thresholdScale is 100.0 dB.

Error -1

mmwDemo:/>'
[ INFO] [1580394679.996465617]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0'
[ INFO] [1580394680.006433534]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0
Error: Maximum value for CFAR thresholdScale is 100.0 dB.

Error -1

mmwDem [1580394679.934353977]: mmWaveQuickConfig: Sending command: 'adcbufCfg -1 0 1 1 1'
[ INFO] [1580394679.942076455]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.942393911]: mmWaveQuickConfig: Sending command: 'profileCfg 0 60.25 48 7 75 0 0 50 1 240 3582 0 0 30'
[ INFO] [1580394679.950978057]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.951306447]: mmWaveQuickConfig: Sending command: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1580394679.957277848]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.957596716]: mmWaveQuickConfig: Sending command: 'chirpCfg 1 1 0 0 0 0 0 4'
[ INFO] [1580394679.963654553]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.963980985]: mmWaveQuickConfig: Sending command: 'frameCfg 0 1 16 0 33.333 1 0'
[ INFO] [1580394679.970964972]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.971255632]: mmWaveQuickConfig: Sending command: 'lowPower 0 0'
[ INFO] [1580394679.976262346]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.976591077]: mmWaveQuickConfig: Sending command: 'guiMonitor -1 1 0 0 0 0 0'
[ INFO] [1580394679.982736248]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1580394679.983129514]: mmWaveQuickConfig: Sending command: 'cfarCfg -1 0 0 8 4 4 0 768 0'
[ INFO] [1580394679.995001934]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1580394679.995028229]: mmWaveQuickConfig: Response: 'cfarCfg -1 0 0 8 4 4 0 768 0
Error: Maximum value for CFAR thresholdScale is 100.0 dB.

Error -1

mmwDemo:/>'
o:/>'
... logging to /home/wlee/.ros/log/2e0ffe68-436d-11ea-8688-d050998cebec/roslaunch-wlee-desktop-3151.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.
]2;/home/wlee/catkin_ws/src/ti_mmwave_rospkg/launch/rviz_6843_2d.launch
started roslaunch server http://192.168.0.57:41319/

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 [3161]
ROS_MASTER_URI=http://192.168.0.57:11311
]2;/home/wlee/catkin_ws/src/ti_mmwave_rospkg/launch/rviz_6843_2d.launch http://192.168.0.57:11311
setting /run_id to 2e0ffe68-436d-11ea-8688-d050998cebec
process[rosout-1]: started with pid [3174]
started core service [/rosout]
process[mmWave_Manager-2]: started with pid [3187]
process[mmWaveQuickConfig-3]: started with pid [3192]
process[static_tf_map_to_base_radar_link-4]: started with pid [3193]
process[rviz-5]: started with pid [3205]
[rviz-5] killing on exit
[static_tf_map_to_base_radar_link-4] killing on exit
[mmWave_Manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done