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IWR6843AOPEVM: Industrial toolbox 4.3.1 (ROS driver) + mmWave SDK v3.4: support for the ES2.0 AOP device and EVM.

Polychronis Kontaxakis
Prodigy 40 points
Part Number: IWR6843AOPEVM
Other Parts Discussed in Thread: MMWAVEICBOOST

Hello all,

I recently purchased the new IWR6843AOPEVM ES2.0 AOP device and the MMWAVEICBOOST development board for testing. Previously, I tested successfully the IWR6843AOPEVM rev c radar module successfully, using the related SDK v3.2. For this one, I installed the SDK v3.4 and I use the ROS driver from the new Industrial Toolbox 4.3.1. I tested the sensor using both the XDS110 USB port from MMWAVEICBOOST board directly from the IWR6843AOPEVM module's USB data port. In both situations, the sensor was working perfectly when I was testing it with the online mmwave demo visualizer (https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/3.4.0/) (both in Windows and Linux Ubuntu). However, when I was using the ROS driver provided by Industrial Toolbox 4.3.1, I was receiving the following message:

[ERROR] [1592905126.248976826]: DataUARTHandler Read Thread: Failed second time to open Data serial port, error: Empty port is invalid.
[ERROR] [1592905126.249071285]: DataUARTHandler Read Thread: Port could not be opened. Port is "" and baud rate is 0

It seams that the sensor connects ok, but there is no data transmission for some reason and after a while I am receiving the above message! To start the ROS driver I am using the following launch file:

roslaunch ti_mmwave_rospkg 6843AOP_multi_3d_0.launch

Paying extra careful for the correct USB port names and baud rates. It is worth mentioning here that the previous version of the ROS driver with rev c IWR6843AOPEVM hardware, worked just fine! Any ideas what might be the problem here?

Thank you in advance,

Akis

  • 0
    TI__Expert 7510 points

    Dear Akis:

    Could you please upgrade your SDK to 3.4 as well as upgrade your Industrial Toolbox to 4.4.0. Then get back to me if you get the same error. Make sure that after you upgrade that you can also run the Visualizer.

    Best regards,

    Connor Desmond

  • 0 in reply to Connor Desmond
    Prodigy 40 points

    Hello Connor,

    Thank you for your reply. Yes I have updated the SDK to 3.4 (I have not uninstalled the SDK 3.2 though, but that does not seam to be the problem) and the Industrial Toolbox to 4.4.0 (that is where I got the ROS driver from). As I mentioned earlier, the online mmwave demo visualizer (https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/3.4.0/) is working fine under Windows and Linux (Ubuntu 16.04). However, the ROS driver refuses to publish the pointcloud, although it seams to have a proper connection with the USB port. I am inserting a 30 sec movie to show you exactly what is going on.

    I would appreciate any help on this matter.

    Best regards,

    Akis

  • 0 in reply to Polychronis Kontaxakis
    TI__Expert 7510 points

    Dear Akis:

    Could you confirm if you are using the IWR6843AOPEVM in stand alone mode or with a MMWAVEICBOOST.

    Best regards,

    Connor Desmond

  • 0 in reply to Connor Desmond
    Prodigy 40 points

    Hello again,

    Yes I confirm that using IWR6843AOPEVM in stand alone mode (see attached pictures), as well as with MMWAVEICBOOST (previous video), I am not able to receive any data from current ROS driver. It only works with the online mmwave demo visualizer as mentioned in my previous post.

    Please let me know what you think!

    Best regards,

    Akis

  • 0 in reply to Polychronis Kontaxakis
    Prodigy 40 points

    Hello Connor,

    It seams that I found the problem. Before the current Toolbox 4.3.1 (or the 4.4.0) version for the new IWR6843AOPEVM ES2.0 AOP, I had compiled the ROS driver from the previous version industrial Toolbox 4.0.1 for the rev c IWR6843AOPEVM module. What I did, was to just substitute the old ROS driver folder with the new one, without making a clean catkin_make. That created the data stream problem. When I made a clean catkin_make (deleting the old build and devel folders), the sensor worked correctly and its performance is much more superior to the previous one!

    Once again thank you for your prompt response.

    Best regards,

    Akis