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IWR1443BOOST: Sensors forum

Martin Christiansen2
Prodigy 30 points
Part Number: IWR1443BOOST
Other Parts Discussed in Thread: IWR1443, UNIFLASH

I have been trying to get data out from a few IWR1443 units I have been playing within Ubuntu 18.04.
Basically, what I want to do is to get some data from the unit, to validate that it works.


So far I have been unsuccessful and I think I am overlooking something rather simple.
In mmWave Demo Visualizer is get the following error:

I have set up my serial port for the units in the following way to ensure full access:

$ ls -la /dev/ttyACM*
crw-rw-rw- 1 root dialout 166, 0 Apr 23 17:56 /dev/ttyACM0
crw-rw-rw- 1 root dialout 166, 1 Apr 23 17:56 /dev/ttyACM1

My user is also part of dialout, so the should not be any problem:
I can connect to the unit with UniFlash 6 and have tried to load a new version of the 2.1 SDK on to it.
But the result was the same in this case. 

I have also attempted with the ROS node from here:
https://github.com/radar-lab/ti_mmwave_rospkgIn this case I am able to connect to the unit in the second launch consistently, but I still do not receive any data from the unit.

roslaunch ti_mmwave_rospkg 1443es1_short_range.launch
... logging to /home/martin/.ros/log/3406aacc-857d-11ea-a4ee-3cf011b7138f/roslaunch-ddwmpc-laptop-11088.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ddwmpc-laptop:37713/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /ti_mmwave/command_port: /dev/ttyACM0
 * /ti_mmwave/command_rate: 115200
 * /ti_mmwave/data_port: /dev/ttyACM1
 * /ti_mmwave/data_rate: 921600
 * /ti_mmwave/frame_id: ti_mmwave
 * /ti_mmwave/max_allowed_azimuth_angle_deg: 90
 * /ti_mmwave/max_allowed_elevation_angle_deg: 90

NODES
  /
    mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig)
    rviz (rviz/rviz)
    static_tf_map_to_base_radar_link (tf/static_transform_publisher)
    ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg)

auto-starting new master
process[master]: started with pid [11098]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3406aacc-857d-11ea-a4ee-3cf011b7138f
process[rosout-1]: started with pid [11109]
started core service [/rosout]
process[ti_mmwave-2]: started with pid [11116]
process[mmWaveQuickConfig-3]: started with pid [11117]
process[static_tf_map_to_base_radar_link-4]: started with pid [11118]
[ INFO] [1587658338.729837485]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/martin/ros_radar/src/ti_mmwave_rospkg/cfg/1443es1_short_range_3d.cfg
[ INFO] [1587658338.730897952]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
process[rviz-5]: started with pid [11124]
[ INFO] [1587658338.765245770]: Initializing nodelet with 8 worker threads.
[ INFO] [1587658338.770139457]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1587658338.770170001]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1587658338.773036867]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1587658338.773084069]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1587658338.773100882]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1587658338.773130886]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1587658338.774076628]: waitForService: Service [/mmWaveCLI] is now available.
[ INFO] [1587658339.275966883]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1587658339.283429887]: mmWaveCommSrv: Received response from sensor: 'sensorStop
'?`????`????`???~' is not recognized as a CLI command
mmwDemo:/>'
[ERROR] [1587658339.284441048]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ERROR] [1587658339.284474908]: mmWaveQuickConfig: Response: 'sensorStop
'?`????`????`???~' is not recognized as a CLI command
mmwDemo:/>'
[mmWaveQuickConfig-3] process has died [pid 11117, exit code 1, cmd /home/martin/ros_radar/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig /home/martin/ros_radar/src/ti_mmwave_rospkg/cfg/1443es1_short_range_3d.cfg __name:=mmWaveQuickConfig __log:=/home/martin/.ros/log/3406aacc-857d-11ea-a4ee-3cf011b7138f/mmWaveQuickConfig-3.log].
log file: /home/martin/.ros/log/3406aacc-857d-11ea-a4ee-3cf011b7138f/mmWaveQuickConfig-3*.log
^C[rviz-5] killing on exit
[static_tf_map_to_base_radar_link-4] killing on exit
[ti_mmwave-2] killing on exit
[ti_mmwave-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
martin@ddwmpc-laptop:~/ros_radar$ roslaunch ti_mmwave_rospkg 1443es1_short_range.launch
... logging to /home/martin/.ros/log/f38f8328-857d-11ea-a4ee-3cf011b7138f/roslaunch-ddwmpc-laptop-9900.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ddwmpc-laptop:33811/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /ti_mmwave/command_port: /dev/ttyACM0
 * /ti_mmwave/command_rate: 115200
 * /ti_mmwave/data_port: /dev/ttyACM1
 * /ti_mmwave/data_rate: 921600
 * /ti_mmwave/frame_id: ti_mmwave
 * /ti_mmwave/max_allowed_azimuth_angle_deg: 90
 * /ti_mmwave/max_allowed_elevation_angle_deg: 90

NODES
  /
    mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig)
    rviz (rviz/rviz)
    static_tf_map_to_base_radar_link (tf/static_transform_publisher)
    ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg)

auto-starting new master
process[master]: started with pid [9911]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f38f8328-857d-11ea-a4ee-3cf011b7138f
process[rosout-1]: started with pid [9922]
started core service [/rosout]
process[ti_mmwave-2]: started with pid [9929]
process[mmWaveQuickConfig-3]: started with pid [9930]
process[static_tf_map_to_base_radar_link-4]: started with pid [9931]
[ INFO] [1587658660.351044815]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/martin/ros_radar/src/ti_mmwave_rospkg/cfg/1443es1_short_range_3d.cfg
[ INFO] [1587658660.352221049]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
process[rviz-5]: started with pid [9937]
[ INFO] [1587658660.386612987]: Initializing nodelet with 8 worker threads.
[ INFO] [1587658660.390905710]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1587658660.390953326]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1587658660.394243565]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1587658660.394286180]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1587658660.394305813]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1587658660.394330667]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1587658660.394408191]: waitForService: Service [/mmWaveCLI] is now available.
[ INFO] [1587658660.898064692]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1587658660.901259760]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Done
mmwDemo:/>'
[ INFO] [1587658660.907344633]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1587658660.910150456]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Done
mmwDemo:/>'
[ INFO] [1587658660.914434156]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1587658660.918161443]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Done
mmwDemo:/>'
[ INFO] [1587658660.921583736]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'
[ INFO] [1587658660.925109080]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0
Done
mmwDemo:/>'
[ INFO] [1587658660.928807006]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[ INFO] [1587658660.931740193]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Done
mmwDemo:/>'
[ INFO] [1587658660.934732484]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'
[ INFO] [1587658660.938274044]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg 0 1 0 1
Done
mmwDemo:/>'
[ INFO] [1587658660.940965706]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'
[ INFO] [1587658660.947405795]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30
Done
mmwDemo:/>'
[ INFO] [1587658660.961199517]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1587658660.965320113]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1587658660.967893370]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'
[ INFO] [1587658660.972037577]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4
Done
mmwDemo:/>'
[ INFO] [1587658660.974985849]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'
[ INFO] [1587658660.979129608]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2
Done
mmwDemo:/>'
[ INFO] [1587658660.981871910]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'
[ INFO] [1587658660.986378031]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0
Done
mmwDemo:/>'
[ INFO] [1587658660.995436004]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'
[ INFO] [1587658660.999420809]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 1 0 0 0 0 0
Done
mmwDemo:/>'
[ INFO] [1587658661.002289101]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 4 0 4000'
[ INFO] [1587658661.006415873]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 0 2 8 4 4 0 4000
Done
mmwDemo:/>'
[ INFO] [1587658661.008831919]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'
[ INFO] [1587658661.012921111]: mmWaveCommSrv: Received response from sensor: 'peakGrouping 1 0 1 1 229
Done
mmwDemo:/>'
[ INFO] [1587658661.015368475]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming 1 0.5'
[ INFO] [1587658661.019587339]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming 1 0.5
Done
mmwDemo:/>'
[ INFO] [1587658661.029452745]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 0'
[ INFO] [1587658661.032969276]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 0
Done
mmwDemo:/>'
[ INFO] [1587658661.035571039]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig 0 -5 8 256'
[ INFO] [1587658661.039925159]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig 0 -5 8 256
Done
mmwDemo:/>'
[ INFO] [1587658661.043371121]: 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] [1587658661.052056783]: 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] [1587658661.054944033]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'
[ INFO] [1587658661.060471293]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2
Done
mmwDemo:/>'
[ INFO] [1587658661.063233954]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0'
[ INFO] [1587658661.067529470]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 123 0
Done
mmwDemo:/>'
[ INFO] [1587658661.070224011]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'
[ INFO] [1587658661.074049736]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 119 4
Done
mmwDemo:/>'
[ INFO] [1587658661.077899034]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1'
[ INFO] [1587658661.081392609]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 1 1
Done
mmwDemo:/>'
[ INFO] [1587658661.084216696]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
[ INFO] [1587658661.157632845]: mmWaveCommSrv: Received response from sensor: 'sensorStart
Debug: Init Calibration Status = 0x7fe
Done
mmwDemo:/>'
[ INFO] [1587658661.203567148]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/martin/ros_radar/src/ti_mmwave_rospkg/cfg/1443es1_short_range_3d.cfg
[ INFO] [1587658661.207729392]: 

==============================
List of parameters
==============================
Number of range samples: 240
Number of chirps: 16
f_s: 4.884 MHz
f_c: 79.210 GHz
Bandwidth: 3439.804 MHz
PRI: 64.140 us
Frame time: 33.333 ms
Max range: 10.458 m
Range resolution: 0.044 m
Max Doppler: +-4.917 m/s
Doppler resolution: 0.615 m/s
==============================

[ INFO] [1587658661.208072294]: DataUARTHandler Read Thread: Failed to open Data serial port with error: IO Exception (2): No such file or directory, file /home/martin/ros_radar/src/serial/src/impl/unix.cc, line 151.
[ INFO] [1587658661.208108799]: DataUARTHandler Read Thread: Waiting 20 seconds before trying again...
[mmWaveQuickConfig-3] process has finished cleanly
log file: /home/martin/.ros/log/f38f8328-857d-11ea-a4ee-3cf011b7138f/mmWaveQuickConfig-3*.log
[ INFO] [1587658681.208983437]: DataUARTHandler Read Thread: Port is open

Any input, what I could be doing wrong.