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AWR1642BOOST: AWR1642BOOST: issue running Roslaunch for TI-mmwave_rospkg

Jonathan Navor
Genius 9475 points
Part Number: AWR1642BOOST

Hi Guys,

Our customer is working with a sensor fusion system in which they are using the AWR1642BOOST EVM. 

The current issue is that when they are trying to run the roslaunch file for 1642es2_short_range, Rviz is launched but no point cloud data is shown.

They have the AWR1642BOOST module (chip 502AC) and have installed mmwave sdk version 3.2.0.4, as well as ROS melodic on Ubuntu 18.04. The mmwave demo works successfully and was able to see the data visualization. They have followed the steps on GitHub /radar-lab/ti_mmwave_rospkg. They first cloned the repo onto my workspace, entered catkin_make as described, and enabled command and data ports as specified. Then, when running the launch file, rviz will launch but no data appears, and also received the following error below:

"[ERROR] [1618174042.546996054]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ERROR] [1618174042.547067244]: mmWaveQuickConfig: Response: 'cfarCfg -1 0 0 8 4 4 0 3072
Error: Invalid usage of the CLI command
Error -1
mmwDemo:/>'
[mmWaveQuickConfig-2] process has died [pid 27590, exit code 1, cmd /home/joe/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig /home/joe/src/ti_mmwave_rospkg/cfg/1642es2_short_range.cfg __name:=mmWaveQuickConfig __log:=/home/joe/.ros/log/a1a9eaaa-9a4c-11eb-91ad-606720558284/mmWaveQuickConfig-2.log].
log file: /home/joe/.ros/log/a1a9eaaa-9a4c-11eb-91ad-606720558284/mmWaveQuickConfig-2*.log"

They have initially tried to run this package within a container using Docker but was not able to access the ports as required. They thought running this directly on Linux hardware would be easier, but they still get these issues. 

Their goal is to be able to view the ros message format with 2d radar data so that I can publish it to a ros topic for other members of my senior design group to subscribe to.

Thanks in advance for any advice you can provide.

Best regards,

Jonathan

  • 0
    TI__Guru 69960 points

    Hi Jonathan,

    Please refer SDK user guide for definition of cfarCfg command

    cfarCfg -1 0 0 8 4 4 0 3072  -> first no. of parameters are not same as required, last one 'peak-grouping-en' is missing and Last but one parameter is detection threshold (dB) which can go max value of 100.

    So please ask customer to check this command or preferably use given profile commands from SDK (C:\ti\mmwave_sdk_03_02_00_04\packages\ti\demo\xwr16xx\mmw\profiles).

    Regards,

    Jitendra

  • 0 in reply to Jitendra Gupta
    TI__Genius 9475 points

    Hi Jitendra,

    Thank you for your help and giving some insight. I'll let our customer know your inputs. 

    Best regards,

    Jonathan