IWR6843: IWR6843 = ROS

Ravi Swami

Part Number: IWR6843
Other Parts Discussed in Thread: MMWAVE-SDK,

Hi TI support team .

Have been trying the ROS demo visualizer lab.

Couple of observations and questions , hope you could clarify quickly.

1. Seems 'peakGrouping' is not supported in .cfg ( Seems support exists for 1642 and 1443) . An earlier discussion in the forum seems to suggest that with this command, we could define the

min and max range for detection , while disabling the peakGrouping option in "cfarcfg" for Doppler and range.

2. I used the "mmwave Demo visualizer" to create a .cfg . It doesn't allow opting in/out of peakGrouping of Doppler / range , and static clutter. peakGrouping is enabled and Static clutter is disabled.

3. mmWave estimator - chirp configurator , saves in .json format. Is there a script to convert this to CLI compatible .cfg format ?

4. If the "clutterRemoval" is manually enabled, the RoS visualizer doesn't have any pointcloud data . the visualizer is empty.

5. Is there a means to capture Range/ Doppler Heat maps from ROS ( though Lab demo and do a 3D real time heat maps with some filtering ?

thanks

...ravi

over 5 years ago

0 JohnH over 5 years ago

TI__Mastermind 21295 points

Hello Ravi,

Here are some responses to your questions.

1. The ROS demo relies on the mmWave SDK demo running on the mmWave Sensor. The CLI interface options for the mmWave SDK demo are described in the mmWave-SDK user guide.

2. You will need to change certain parameters manually in the output cfg file.

3. There is no script to convert the settings from the mmWave Sensing Estimator to the mmWave SDK demo cfg file format. You would need to manually modify the cfg file.

4. When clutterRemoval is enabled only moving objects should be shown. No objects will be displayed if the scene is static.

5. As the ROS mmWave driver only supports the detected object data from the mmWave SDK demo you would need to add support to the ROS driver for any additional data types that you are interested in processing in ROS.

Regards,
John

0 Ravi Swami over 5 years ago in reply to JohnH

Intellectual 335 points

Thanks John .

An earlier discussion regarding "clutter removal" in e2e forum suggested that the parameters be adjusted through Visualizer and chirp configuration through Estimator ( for valid settings).

hence the comment on Visualizer not updating the parameters in .cfg for "clutter removal" etc.

My understanding as well is that the "clutter removal" when enabled, will remove the static objects (reflectors) and keep the moving objects in ROS visualizer.

But that's not what is happening in the release. I tried this several times with multiple moving objects and the screen is empty / blank .

Am wondering if you can try it out and if it works , appreciate sharing the working .cfg.

thanks

...ravi

0 JohnH over 5 years ago in reply to Ravi Swami

TI__Mastermind 21295 points

Hi Ravi,

I should be able to allocate some time later today to try it out.

Regards,
John

0 JohnH over 5 years ago in reply to JohnH

TI__Mastermind 21295 points

Hi Ravi,

Unfortunately I was not able to look at this today but will prioritize it tomorrow.

Regards,
John

0 JohnH over 5 years ago in reply to JohnH

TI__Mastermind 21295 points

Hi Ravi,

I tried enabling clutterRemoval (changed second parameter from 0 to 1) in the default IWR6843 config file that comes with the ROS Point Cloud Visualizer lab (6843_3d.cfg) and it appeared to work for me. There were no detected objects when the scene was static but there were many points when I was moving in front of the sensor. Can you try the same? Please make sure you try the modified config as the first config after powering on the sensor (instead of reconfiguring the sensor).

Regards,
John

0 Ravi Swami over 5 years ago in reply to JohnH

Intellectual 335 points

John

THanks for confirming the functionality from your side.

I did exactly the same ( through roslaunch and using the clutter removal option enabled) as it starts.

(this is what I have observed , and reported in the original filing )

Doesn't seem to work for me .

Including two screen captures , "clutter_removed.jpg" and "with_clutter.jpg"

When clutter removal is enabled, there are no point cloud dots.

I've used NUC / Xeon - server with Ubuntu LTS16.04 ... Not sure how to proceed now.

One more observation :

WIth the demo code downloaded ( 3_0_08) , mmwave-demo_visualizer also doesn't wotk.

On WIndows (7/ 10) - The Hardware is waiting for Data . Downloading the configuration from PC ( of visualizer parameters) , as suggested in earlier posts doesn't solve.

In Ubuntu it doesn;t work but with a different failure mode ... /de/vttyACM0, 1 do connect but , while updating the configuration for fps / plots ( heatmaps) etc -- the cfg command for "sensor start" fails and hangs. Needed to power cycle the sensor to get back on line.

thanks

...ravi

0 JohnH over 5 years ago in reply to Ravi Swami

TI__Mastermind 21295 points

Hi Ravi,

Can you confirm that your EVM power supply can supply at least 2.5Amps (preferably 3Amps) at 5V?

Can you send a copy of the Console log from the Demo Visualizer on Windows when it fails? Does it ever work using the Demo Visualizer? If it does not work using the Demo Visualizer then it will not work on ROS since the ROS driver is just emulating the Demo Visualizer.

Regards,
John

0 Ravi Swami over 5 years ago in reply to JohnH

Intellectual 335 points

John:

Yes, the EVM power supply is rated for 5V , 3A.

Seems it is a Windows / XDS110 driver related.

Ubuntu :

* Ros works all the time , with a clean start. ( seems it is hard coded for ACM0/ACM1; When installed as ACM2/3 - ROS won't initialize)

* Demo visualizer will work if the unit is power cycled cleanly . But the RECORDER doesn't work.

WIndows 10 / 7 :

* With Demo visualizer - unit " will wait for data " for ever. With Soft reset applied and "reconnect " / or "download code from PC" - it won't.

* If the unit is in "soft reset" ( the push button kept pressed) when "reconnect" is executed, it succeeds connection and we can download the configured visualizer and it works.

* Can "record" data ( Doppler and Azimuth heat maps) upto 4 or ( occasionally 5) fps ...

Seems there is a FTD driver/ XDS110 -code related reset circuitry misbehavior in the current situation.

I tried this on couple of units to reconfirm the above.

Hope this helps!

Cheers!

...ravi

0 JohnH over 5 years ago in reply to Ravi Swami

TI__Mastermind 21295 points

Hi Ravi,

Just wanted to confirm the current status. Previously you mentioned that enabling the clutterRemoval option in the cfg file caused no points to be seen using the ROS visualizer (even with a moving object in front of the sensor). But now you mentioned "Ros works all the time , with a clean start." Does that mean that the ROS visualizer is now working with clutterRemoval enabled? What was changed to make it work?

Regards,
John

0 Ravi Swami over 5 years ago in reply to JohnH

Intellectual 335 points

John

Clutter removal is still an issue though it starts and initializes (executes the commands correctly) . The Ros Viz screen is empty of any point cloud data.

Here's the screen capture of the roslaunch/ command execution

---------------------

nokia@nokia-desktop:~$ !ros

roslaunch ti_mmwave_rospkg rviz_6843_3d.launch

... logging to /home/nokia/.ros/log/ba2b9f22-025c-11e9-b6e2-00c2c6c37d82/roslaunch-nokia-desktop-23764.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://nokia-desktop:39955/

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 [23776]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to ba2b9f22-025c-11e9-b6e2-00c2c6c37d82

process[rosout-1]: started with pid [23789]

started core service [/rosout]

process[mmWave_Manager-2]: started with pid [23796]

process[mmWaveQuickConfig-3]: started with pid [23807]

[ INFO] [1545093290.164143496]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/nokia/catkin_ws/src/ti_mmwave_rospkg/cfg/6843_3d.cfg

process[static_tf_map_to_base_radar_link-4]: started with pid [23808]

[ INFO] [1545093290.174972053]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] has not been advertised, waiting...

process[rviz-5]: started with pid [23817]

[ INFO] [1545093290.185902398]: Initializing nodelet with 4 worker threads.

[ INFO] [1545093290.190060530]: mmWaveCommSrv: command_port = /dev/ttyACM0

[ INFO] [1545093290.190104974]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1545093290.193777192]: mmWaveDataHdl: data_port = /dev/ttyACM1

[ INFO] [1545093290.193811197]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1545093290.193845265]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1545093290.193873970]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1545093290.195018213]: DataUARTHandler Read Thread: Port is open

[ INFO] [1545093290.195922502]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] is now available.

[ INFO] [1545093290.196356830]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************'

[ INFO] [1545093290.196694859]: mmWaveQuickConfig: Ignored blank or comment line: '% Created for SDK ver:03.00'

[ INFO] [1545093290.197026806]: mmWaveQuickConfig: Ignored blank or comment line: '% Created using Visualizer ver:3.0.0.1'

[ INFO] [1545093290.197306107]: mmWaveQuickConfig: Ignored blank or comment line: '% Frequency:60.25'

[ INFO] [1545093290.197617331]: mmWaveQuickConfig: Ignored blank or comment line: '% Platform:xWR68xx'

[ INFO] [1545093290.197951397]: mmWaveQuickConfig: Ignored blank or comment line: '% Scene Classifier:best_range_res'

[ INFO] [1545093290.198247952]: mmWaveQuickConfig: Ignored blank or comment line: '% Azimuth Resolution(deg):15 + Elevation'

[ INFO] [1545093290.198543650]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Resolution(m):0.044'

[ INFO] [1545093290.198844894]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum unambiguous Range(m):12.37'

[ INFO] [1545093290.199160266]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum Radial Velocity(m/s):1.2'

[ INFO] [1545093290.199479240]: mmWaveQuickConfig: Ignored blank or comment line: '% Radial velocity resolution(m/s):0.15'

[ INFO] [1545093290.199830202]: mmWaveQuickConfig: Ignored blank or comment line: '% Frame Duration(msec):33.333'

[ INFO] [1545093290.200162875]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Detection Threshold (dB):15'

[ INFO] [1545093290.200495132]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Detection Threshold (dB):15'

[ INFO] [1545093290.200828155]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Peak Grouping:enabled'

[ INFO] [1545093290.201155192]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Peak Grouping:enabled'

[ INFO] [1545093290.201482128]: mmWaveQuickConfig: Ignored blank or comment line: '% Static clutter removal:disabled'

[ INFO] [1545093290.201813844]: mmWaveQuickConfig: Ignored blank or comment line: '% Angle of Arrival FoV: Full FoV'

[ INFO] [1545093290.202109954]: mmWaveQuickConfig: Ignored blank or comment line: '% Range FoV: Full FoV'

[ INFO] [1545093290.202490362]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler FoV: Full FoV'

[ INFO] [1545093290.202823670]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************'

[ INFO] [1545093290.203373419]: mmWaveQuickConfig: Sending command: 'sensorStop'

[ INFO] [1545093290.204885762]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1545093290.210989887]: mmWaveCommSrv: Received response from sensor: 'sensorStop

Ignored: Sensor is already stopped

Done

mmwDemo:/>'

[ INFO] [1545093290.212107127]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.212702314]: mmWaveQuickConfig: Sending command: 'flushCfg'

[ INFO] [1545093290.213898737]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1545093290.216652038]: mmWaveCommSrv: Received response from sensor: 'flushCfg

Done

mmwDemo:/>'

[ INFO] [1545093290.217698274]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.218272169]: mmWaveQuickConfig: Sending command: 'dfeDataOutputMode 1'

[ INFO] [1545093290.219526515]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1545093290.223222662]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1

Done

mmwDemo:/>'

[ INFO] [1545093290.224304165]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.224867475]: mmWaveQuickConfig: Sending command: 'channelCfg 15 7 0'

[ INFO] [1545093290.227057559]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1545093290.230534348]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0

Done

mmwDemo:/>'

[ INFO] [1545093290.231448975]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.231866921]: mmWaveQuickConfig: Sending command: 'adcCfg 2 1'

[ INFO] [1545093290.233025506]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1545093290.235944449]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1

Done

mmwDemo:/>'

[ INFO] [1545093290.237166284]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.237567942]: mmWaveQuickConfig: Sending command: 'adcbufCfg -1 0 1 1 1'

[ INFO] [1545093290.239845641]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'

[ INFO] [1545093290.243695757]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 1

Done

mmwDemo:/>'

[ INFO] [1545093290.244907270]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.245307982]: mmWaveQuickConfig: Sending command: 'profileCfg 0 60.25 252 7 93.75 0 0 40 1 336 3918 0 0 34'

[ INFO] [1545093290.246500072]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 60.25 252 7 93.75 0 0 40 1 336 3918 0 0 34'

[ INFO] [1545093290.253063659]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 60.25 252 7 93.75 0 0 40 1 336 3918 0 0 34

Done

mmwDemo:/>'

[ INFO] [1545093290.254057006]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.254455392]: mmWaveQuickConfig: Sending command: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1545093290.257136308]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1545093290.261278150]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1

Done

mmwDemo:/>'

[ INFO] [1545093290.262677323]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.263177122]: mmWaveQuickConfig: Sending command: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1545093290.264486093]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1545093290.268603240]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4

Done

mmwDemo:/>'

[ INFO] [1545093290.270190047]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.270620430]: mmWaveQuickConfig: Sending command: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1545093290.272743166]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1545093290.276943638]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2

Done

mmwDemo:/>'

[ INFO] [1545093290.279492290]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.280071344]: mmWaveQuickConfig: Sending command: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1545093290.281524782]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1545093290.285986566]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0

Done

mmwDemo:/>'

[ INFO] [1545093290.287056433]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.287459991]: mmWaveQuickConfig: Sending command: 'calibDcRangeSig -1 1 -5 8 256'

[ INFO] [1545093290.288910617]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 1 -5 8 256'

[ INFO] [1545093290.293529563]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 1 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1545093290.294632905]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.295081208]: mmWaveQuickConfig: Sending command: 'lowPower 0 0'

[ INFO] [1545093290.297577784]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'

[ INFO] [1545093290.300654489]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 0

Done

mmwDemo:/>'

[ INFO] [1545093290.301582080]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.301981927]: mmWaveQuickConfig: Sending command: 'guiMonitor -1 1 0 0 0 0 0'

[ INFO] [1545093290.303180946]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 0 0 0 0 0'

[ INFO] [1545093290.307410325]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 0 0 0 0 0

Done

mmwDemo:/>'

[ INFO] [1545093290.308314359]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.308708535]: mmWaveQuickConfig: Sending command: 'cfarCfg -1 0 0 8 4 4 0 984 1'

[ INFO] [1545093290.310609945]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 0 8 4 4 0 984 1'

[ INFO] [1545093290.315165264]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 0 8 4 4 0 984 1

Done

mmwDemo:/>'

[ INFO] [1545093290.316097707]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.316493567]: mmWaveQuickConfig: Sending command: 'cfarCfg -1 1 0 8 4 4 1 984 1'

[ INFO] [1545093290.317644786]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 8 4 4 1 984 1'

[ INFO] [1545093290.322166732]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 1 0 8 4 4 1 984 1

Done

mmwDemo:/>'

[ INFO] [1545093290.323211005]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.323530359]: mmWaveQuickConfig: Ignored blank or comment line: '%peakGrouping 1 0 1 25 229'

[ INFO] [1545093290.324134662]: mmWaveQuickConfig: Sending command: 'multiObjBeamForming -1 1 0.50'

[ INFO] [1545093290.328085323]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.50'

[ INFO] [1545093290.332701288]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming -1 1 0.50

Done

mmwDemo:/>'

[ INFO] [1545093290.333834255]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.334427957]: mmWaveQuickConfig: Sending command: 'clutterRemoval -1 1'

[ INFO] [1545093290.335542769]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 1'

[ INFO] [1545093290.339258049]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval -1 1

Done

mmwDemo:/>'

[ INFO] [1545093290.340198602]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.340591101]: mmWaveQuickConfig: Sending command: 'calibDcRangeSig -1 1 -5 8 256'

[ INFO] [1545093290.341621260]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 1 -5 8 256'

[ INFO] [1545093290.346217631]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 1 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1545093290.347273302]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.347687430]: mmWaveQuickConfig: Sending command: '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'

[ INFO] [1545093290.349036814]: mmWaveCommSrv: Sending command to sensor: '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'

[ INFO] [1545093290.357743790]: mmWaveCommSrv: Received response from sensor: '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

Done

mmwDemo:/>'

[ INFO] [1545093290.359264826]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.359691939]: mmWaveQuickConfig: Sending command: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1545093290.362077388]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1545093290.368551074]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2

Done

mmwDemo:/>'

[ INFO] [1545093290.369633134]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.370434371]: mmWaveQuickConfig: Sending command: 'aoaFovCfg -1 -90 90 -90 10'

[ INFO] [1545093290.371932209]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -1 -90 90 -90 10'

[ INFO] [1545093290.376221915]: mmWaveCommSrv: Received response from sensor: 'aoaFovCfg -1 -90 90 -90 10

Done

mmwDemo:/>'

[ INFO] [1545093290.377678271]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.378113851]: mmWaveQuickConfig: Sending command: 'cfarFovCfg -1 0 0 11.75'

[ INFO] [1545093290.379683077]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 0 0 11.75'

[ INFO] [1545093290.383705277]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 0 0 11.75

Done

mmwDemo:/>'

[ INFO] [1545093290.385141840]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.385677861]: mmWaveQuickConfig: Sending command: 'cfarFovCfg -1 1 -1.2 1.20'

[ INFO] [1545093290.386903080]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 1 -1.2 1.20'

[ INFO] [1545093290.391206967]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 1 -1.2 1.20

Done

mmwDemo:/>'

[ INFO] [1545093290.392154404]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.392556429]: mmWaveQuickConfig: Sending command: 'calibDcRangeSig -1 0 -5 8 256'

[ INFO] [1545093290.393795299]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'

[ INFO] [1545093290.398428382]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 0 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1545093290.399394661]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.399835614]: mmWaveQuickConfig: Sending command: 'calibDcRangeSig -1 0 -5 8 256'

[ INFO] [1545093290.401130690]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'

[ INFO] [1545093290.405797048]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 0 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1545093290.407008035]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.407387629]: mmWaveQuickConfig: Sending command: 'sensorStart'

[ INFO] [1545093290.408430434]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'

[ INFO] [1545093290.421166676]: mmWaveCommSrv: Received response from sensor: 'sensorStart

Debug: Init Calibration Status = 0x1e

Done

mmwDemo:/>'

[ INFO] [1545093290.422486442]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')

[ INFO] [1545093290.422525926]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/nokia/catkin_ws/src/ti_mmwave_rospkg/cfg/6843_3d.cfg

[mmWaveQuickConfig-3] process has finished cleanly

log file: /home/nokia/.ros/log/ba2b9f22-025c-11e9-b6e2-00c2c6c37d82/mmWaveQuickConfig-3*.log

0 JohnH over 5 years ago in reply to Ravi Swami

TI__Mastermind 21295 points

Hi Ravi,

Based on the console log you sent, it appears that you are not using the default 6843_3d.cfg file that comes with the ROS Point Cloud Visualizer lab. The config you are using appears to have higher detection thresholds set as well as other changes which may affect the performance. Please try using the default chirp config file and just enable clutterRemoval to try it out. I have attached the default config as well as a modified version where the only change is to enable clutterRemoval as a reference.

In order to keep the forum threads organized and assign the appropriate support contact, please post a new thread for any of the other issues unrelated to the original ROS/clutterRemoval issue.

Regards,

John

/cfs-file/__key/communityserver-discussions-components-files/1023/6843_5F00_3d.cfg

/cfs-file/__key/communityserver-discussions-components-files/1023/6843_5F00_3d_5F00_clutterRemovalEn.cfg

Sensors

Sensors forum

IWR6843: IWR6843 = ROS