After running the command: roslaunch ti_mmwave_rospkg 6843AOP_multi_3d_0.launch
Besides that the Rviz opens, but does not show the data points, I get the following error:
mmWaveQuickConfig: Configuring mmWave device using config file: /home/teo/catkin_ws/src/ti_mmwave_rospkg/cfg/6843AOP_3d.cfg
waitForService: Service [/mmWaveCommSrv/mmWaveCLI] has not been advertised, waiting...
Initializing nodelet with 12 worker threads.
mmWaveCommSrv: command_port =
mmWaveCommSrv: command_rate = 61184
mmWaveDataHdl: data_port = /dev/ttyUSB0
mmWaveDataHdl: data_rate = 921600
mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
...
mmWaveQuickConfig: Failed to call service mmWaveCLI
sensorStop
This is my roslaunch file, I changed the ports(that also worked on demo Vizualizer):
<!--
This file will launch rViz along with the mmWave sensor node and configure a TI mmWave 6843 sensor using a 3D config
-->
<launch>
<!-- Input arguments -->
<arg name="device" value="6843" doc="TI mmWave sensor device type [1443, 1642, 6843]"/>
<arg name="config" value="3d" doc="TI mmWave sensor device configuration [3d_best_range_res (not supported by 1642 EVM), 2d_best_range_res]"/>
<arg name="max_allowed_elevation_angle_deg" default="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" default="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
<!-- mmWave_Manager node -->
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_0" output="screen">
<param name="command_port" value="/dev/ttyUSB1"/> <!-- FIX ACM0 -> USB1 -->
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/ttyUSB0" /> <!-- FIX ACM1 -> USB0 -->
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="/ti_mmwave_0"/>
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_0"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/6843AOP_3d.cfg" output="screen" />
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ti_mmwave_rospkg)/launch/rviz/ti_mmwave_multi.rviz"/>
</launch>
And the 6843AOP_3d.cfg file:
% ***************************************************************
% Created for SDK ver:03.02
% Created using Visualizer ver:3.2.0.0_AOP
% Frequency:60
% Platform:xWR68xx_AOP
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):30 + 30
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):4.99
% Radial velocity resolution(m/s):0.63
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 43 7 40 0 0 100 1 224 7000 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 16 0 33.333 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 12 0
cfarCfg -1 1 0 4 2 3 1 12 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 99 0
CQSigImgMonitor 0 111 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.40
cfarFovCfg -1 1 -5.02 5.02
sensorStart
