IWR1642BOOST: mmwave ros package in consistent behavior

Arun Ravindran1

Prodigy 50 points

Part Number: IWR1642BOOST
Other Parts Discussed in Thread: IWR1642

Hi,

I am using

SDK: mmwave_sdk_03_04_00_03

Ros pkg: from mmwave_industrial_toolbox_4_4_1

Config file:

IWR1642_best_range.txt

% ***************************************************************
% Created for SDK ver:03.04
% Created using Visualizer ver:3.4.0.0
% Frequency:77
% Platform:xWR16xx
% Scene Classifier:best_range
% Azimuth Resolution(deg):15
% Range Resolution(m):0.244
% Maximum unambiguous Range(m):50
% Maximum Radial Velocity(m/s):1
% Radial velocity resolution(m/s):0.13
% Frame Duration(msec):100
% 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
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 3 0
adcCfg 2 1
adcbufCfg -1 0 1 1 0
profileCfg 0 77 438 7 48.98 0 0 15 1 256 6250 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
frameCfg 0 1 16 0 100 1 0
lowPower 0 1
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 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 4 127 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 50.00
cfarFovCfg -1 1 -1 1.00
sensorStart

Launch File:

IWR1642_intel.txt

<!--
  This file will launch rViz along with the mmWave sensor node and configure a TI mmWave 1642 sensor using a 2D config
 -->

<launch>

  <!-- Input arguments -->
  <arg name="device" value="1642" doc="TI mmWave sensor device type [1443, 1642]"/>
  <arg name="config" value="2d" 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" output="screen">
    <param name="command_port" value="/dev/ttyACM0"  />
    <param name="command_rate" value="115200"   />
    <param name="data_port" value="/dev/ttyACM1"  />
    <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"/>
  </node>
  
  <!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/IWR1642_best_range.cfg" output="screen" />

  <!-- Static transform from map to base_radar_link for visualization of stand-alone mmWave sensor using Rviz -->
  <node pkg="tf" type="static_transform_publisher" name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave 30"/>

  <!-- Launch Rviz with pre-defined configuration to view mmWave sensor detected object data (color by intensity) -->
  <!-- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ti_mmwave_rospkg)/launch/rviz/ti_mmwave.rviz"/> -->

</launch>

Ros launch Command:

roslaunch ti_mmwave_rospkg IWR1642_intel.launch

Issue:

The roslaunch fails always for the first time:

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

process[ti_mmwave-1]: started with pid [3070]
process[mmWaveQuickConfig-2]: started with pid [3071]
process[static_tf_map_to_base_radar_link-3]: started with pid [3072]
[ INFO] [1595578523.112115745]: mmWaveQuickConfig: Configuring mmWave device using config file: /opt/ros/melodic/share/ti_mmwave_rospkg/cfg/IWR1642_best_range.cfg
[ INFO] [1595578523.113528304]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
[ INFO] [1595578523.121206158]: Initializing nodelet with 4 worker threads.
[ INFO] [1595578523.123398365]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1595578523.123419852]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1595578523.124672788]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1595578523.124693452]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1595578523.124705358]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1595578523.124719966]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1595578523.134898531]: waitForService: Service [/mmWaveCLI] is now available.
[ INFO] [1595578523.637390014]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1595578523.644054440]: mmWaveCommSrv: Received response from sensor: 'sensorStop
'?`?????' is not recognized as a CLI command
mmwDemo:/>'
[ERROR] [1595578523.668398216]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ERROR] [1595578523.668448527]: mmWaveQuickConfig: Response: 'sensorStop
'?`?????' is not recognized as a CLI command
mmwDemo:/>'
[mmWaveQuickConfig-2] process has died [pid 3071, exit code 1, cmd /opt/ros/melodic/lib/ti_mmwave_rospkg/mmWaveQuickConfig /opt/ros/melodic/share/ti_mmwave_rospkg/cfg/IWR1642_best_range.cfg __name:=mmWaveQuickConfig __log:=/home/robot/.ros/log/b4d94f2a-cd84-11ea-b321-00e04b693a06/mmWaveQuickConfig-2.log].
log file: /home/robot/.ros/log/b4d94f2a-cd84-11ea-b321-00e04b693a06/mmWaveQuickConfig-2*.log
------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

Subsequent launches succeeds:

process[ti_mmwave-1]: started with pid [21961]
process[mmWaveQuickConfig-2]: started with pid [21962]
process[static_tf_map_to_base_radar_link-3]: started with pid [21963]
[ INFO] [1595578635.537578509]: mmWaveQuickConfig: Configuring mmWave device using config file: /opt/ros/melodic/share/ti_mmwave_rospkg/cfg/IWR1642_best_range.cfg
[ INFO] [1595578635.538291467]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
[ INFO] [1595578635.548203889]: Initializing nodelet with 4 worker threads.
[ INFO] [1595578635.550494077]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1595578635.550517097]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1595578635.551703414]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1595578635.551727242]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1595578635.551742407]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1595578635.551755735]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1595578635.559175994]: waitForService: Service [/mmWaveCLI] is now available.
[ INFO] [1595578636.061158957]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1595578636.067224621]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Ignored: Sensor is already stopped
Done
mmwDemo:/>'
[ INFO] [1595578636.088751830]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1595578636.094762559]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Ignored: Sensor is already stopped
Done
mmwDemo:/>'
[ INFO] [1595578636.118254437]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1595578636.120953983]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Done
mmwDemo:/>'
[ INFO] [1595578636.136559323]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1595578636.140231449]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Done
mmwDemo:/>'
[ INFO] [1595578636.157873469]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 3 0'
[ INFO] [1595578636.161360199]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 3 0
Done
mmwDemo:/>'
[ INFO] [1595578636.177018457]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[ INFO] [1595578636.179881871]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Done
mmwDemo:/>'
[ INFO] [1595578636.195634126]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 0'
[ INFO] [1595578636.199362923]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 0
Done
mmwDemo:/>'
[ INFO] [1595578636.214932155]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 438 7 48.98 0 0 15 1 256 6250 0 0 30'
[ INFO] [1595578636.221503011]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 438 7 48.98 0 0 15 1 256 6250 0 0 30
Done
mmwDemo:/>'
[ INFO] [1595578636.250207639]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1595578636.254372033]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1595578636.277836802]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 2'
[ INFO] [1595578636.281920861]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 2
Done
mmwDemo:/>'
[ INFO] [1595578636.299507663]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 1 16 0 100 1 0'
[ INFO] [1595578636.303709745]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 1 16 0 100 1 0
Done
mmwDemo:/>'
[ INFO] [1595578636.324376669]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 1'
[ INFO] [1595578636.327500411]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 1
Done
mmwDemo:/>'
[ INFO] [1595578636.341167260]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 1 0 0 0 1'
[ INFO] [1595578636.345362141]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 1 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1595578636.363181772]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1'
[ INFO] [1595578636.367553106]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1
Done
mmwDemo:/>'
[ INFO] [1595578636.384998580]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1'
[ INFO] [1595578636.389369278]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1
Done
mmwDemo:/>'
[ INFO] [1595578636.407071560]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.5'
[ INFO] [1595578636.411562460]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming -1 1 0.5
Done
mmwDemo:/>'
[ INFO] [1595578636.429128526]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 0'
[ INFO] [1595578636.432800255]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval -1 0
Done
mmwDemo:/>'
[ INFO] [1595578636.448509244]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'
[ INFO] [1595578636.453075383]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 0 -5 8 256
Done
mmwDemo:/>'
[ INFO] [1595578636.470533197]: mmWaveCommSrv: Sending command to sensor: 'extendedMaxVelocity -1 0'
[ INFO] [1595578636.474631962]: mmWaveCommSrv: Received response from sensor: 'extendedMaxVelocity -1 0
Done
mmwDemo:/>'
[ INFO] [1595578636.492263510]: mmWaveCommSrv: Sending command to sensor: 'bpmCfg -1 0 0 1'
[ INFO] [1595578636.495325027]: mmWaveCommSrv: Received response from sensor: 'bpmCfg -1 0 0 1
Done
mmwDemo:/>'
[ INFO] [1595578636.509307108]: mmWaveCommSrv: Sending command to sensor: 'lvdsStreamCfg -1 0 0 0'
[ INFO] [1595578636.513263723]: mmWaveCommSrv: Received response from sensor: 'lvdsStreamCfg -1 0 0 0
Done
mmwDemo:/>'
[ INFO] [1595578636.528796772]: mmWaveCommSrv: Sending command to sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0'
[ INFO] [1595578636.536074088]: mmWaveCommSrv: Received response from sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
Done
mmwDemo:/>'
[ INFO] [1595578636.561510414]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'
[ INFO] [1595578636.567009743]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2
Done
mmwDemo:/>'
[ INFO] [1595578636.588535685]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 4 127 0'
[ INFO] [1595578636.592800314]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 4 127 0
Done
mmwDemo:/>'
[ INFO] [1595578636.614422787]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 127 4'
[ INFO] [1595578636.618180379]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 127 4
Done
mmwDemo:/>'
[ INFO] [1595578636.635837054]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 0 0'
[ INFO] [1595578636.639319180]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 0 0
Done
mmwDemo:/>'
[ INFO] [1595578636.655099337]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -1 -90 90 -90 90'
[ INFO] [1595578636.659381375]: mmWaveCommSrv: Received response from sensor: 'aoaFovCfg -1 -90 90 -90 90
Done
mmwDemo:/>'
[ INFO] [1595578636.677008337]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 0 0 50.00'
[ INFO] [1595578636.680766549]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 0 0 50.00
Done
mmwDemo:/>'
[ INFO] [1595578636.700270711]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 1 -1 1.00'
[ INFO] [1595578636.704049861]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 1 -1 1.00
Done
mmwDemo:/>'
[ INFO] [1595578636.719741854]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
[ INFO] [1595578636.786515633]: mmWaveCommSrv: Received response from sensor: 'sensorStart
Debug: Init Calibration Status = 0x7fe
Done
mmwDemo:/>'
[ INFO] [1595578636.822501860]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /opt/ros/melodic/share/ti_mmwave_rospkg/cfg/IWR1642_best_range.cfg
[ INFO] [1595578636.824374483]:

==============================
List of parameters
==============================
Number of range samples: 256
Number of chirps: 16
f_s: 6.250 MHz
f_c: 77.412 GHz
Bandwidth: 614.400 MHz
PRI: 486.980 us
Frame time: 100.000 ms
Max range: 62.457 m
Range resolution: 0.244 m
Max Doppler: +-0.994 m/s
Doppler resolution: 0.124 m/s
==============================

[ INFO] [1595578636.824883382]: DataUARTHandler Read Thread: Port is open
[mmWaveQuickConfig-2] process has finished cleanly
log file: /home/robot/.ros/log/b4d94f2a-cd84-11ea-b321-00e04b693a06/mmWaveQuickConfig-2*.log
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

how can i ensure that the roslaunch is always success. My plan is to wrap the roslaunch as a system service and this behaviour is not good to have.

over 3 years ago

0 Yogesh Siraswar over 3 years ago

TI__Genius 14300 points

Hi Arun,

We will look into this and get back back early next week.

Thanks

Yogesh

0 Yogesh Siraswar over 3 years ago in reply to Yogesh Siraswar

TI__Genius 14300 points

Arun,

Sorry for the delay. Currently the ROS driver is only supported on Kinetic.

Thanks

Yogesh

0 Sabeeh Khan1 over 3 years ago

TI__Mastermind 20160 points

Hi Arun,

I was able to duplicate this issue. A better solution is to send a message to the sensor that doesn't get error checked for "Done". Subsequent messages should not have an issue. This is effectively resetting the CLI to the next line.

Add the following between lines 30 and 31 in ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp

// send a test command to reset the CLI
srv.request.comm = "test";
if (!client.call(srv)) {
    ROS_ERROR("mmWaveQuickConfig: Failed to call service mmWaveCLI");
    ROS_ERROR("%s", srv.request.comm.c_str());
    return 1;
}

Be sure to rebuild using catkin_make before running again.

0 Arun Ravindran1 over 3 years ago in reply to Sabeeh Khan1

Prodigy 50 points

Sabeeh Khan1 said:
Hi Arun,

I was able to duplicate this issue. A better solution is to send a message to the sensor that doesn't get error checked for "Done". Subsequent messages should not have an issue. This is effectively resetting the CLI to the next line.

Add the following between lines 30 and 31 in ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
// send a test command to reset the CLI
srv.request.comm = "test";
if (!client.call(srv)) {
    ROS_ERROR("mmWaveQuickConfig: Failed to call service mmWaveCLI");
    ROS_ERROR("%s", srv.request.comm.c_str());
    return 1;
}
Be sure to rebuild using catkin_make before running again.

Hi,

Thank you for the help.

This seems to give a more consistent behaviour. It now works every second time.

What i have is a systemd service, which launches the needed ros nodes. The first time it fails with some weird message

Aug 13 08:54:47 deliboz-DBP1005005 sh[1553]: [ INFO] [1597308887.064209791]: waitForService: Service [/mmWaveCLI] is now available.
Aug 13 08:54:47 deliboz-DBP1005005 sh[1553]: [ INFO] [1597308887.036217851]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
Aug 13 08:54:47 deliboz-DBP1005005 sh[1553]: [ INFO] [1597308887.034744463]: mmWaveQuickConfig: Configuring mmWave device using config file: /opt/ros/melodic/share/ti_mmwave_rospkg/cfg/IWR1
Aug 13 08:54:47 deliboz-DBP1005005 sh[1553]: [ERROR] [1597308887.578322731]: sensorStop
Aug 13 08:54:47 deliboz-DBP1005005 sh[1553]: [ERROR] [1597308887.578306698]: mmWaveQuickConfig: Failed to call service mmWaveCLI
Aug 13 08:54:47 deliboz-DBP1005005 sh[1553]: [ERROR] [1597308887.578267337]: Service call failed: service [/mmWaveCLI] responded with an error: SerialException device reports readiness to r
Aug 13 08:54:47 deliboz-DBP1005005 sh[1553]: [ERROR] [1597308887.578034894]: Exception thrown while processing service call: SerialException device reports readiness to read but returned no

or some times the same old behaviour of some random command failing.

Aug 13 09:07:41 deliboz-DBP1005005 sh[1536]: [mmWaveQuickConfig-2] process has died [pid 1785, exit code 1, cmd /opt/ros/melodic/lib/ti_mmwave_rospkg/mmWaveQuickConfig /opt/ros/melodic/shar
Aug 13 09:07:41 deliboz-DBP1005005 sh[1536]: [ INFO] [1597309659.388801994]: mmWaveQuickConfig: reset done Now sending config
Aug 13 09:07:41 deliboz-DBP1005005 sh[1536]: [ INFO] [1597309659.381663830]: mmWaveQuickConfig: resetting the CLI, with test
Aug 13 09:07:41 deliboz-DBP1005005 sh[1536]: [ INFO] [1597309658.881547869]: waitForService: Service [/mmWaveCLI] is now available.
Aug 13 09:07:41 deliboz-DBP1005005 sh[1536]: [ INFO] [1597309658.756207265]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
Aug 13 09:07:41 deliboz-DBP1005005 sh[1536]: [ INFO] [1597309658.755191310]: mmWaveQuickConfig: Configuring mmWave device using config file: /opt/ros/melodic/share/ti_mmwave_rospkg/cfg/IWR1
Aug 13 09:07:41 deliboz-DBP1005005 sh[1536]: [10B blob data]
Aug 13 09:07:41 deliboz-DBP1005005 sh[1536]: [ERROR] [1597309661.257049570]: mmWaveQuickConfig: Response: 'dfeDataOutputMode 1
Aug 13 09:07:41 deliboz-DBP1005005 sh[1536]: [ERROR] [1597309661.257028346]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
Aug 13 09:07:39 deliboz-DBP1005005 sh[1536]: log file: /var/log/robot/log/6dd7ec4c-dd44-11ea-af6b-00e04b693a06/rviz-4*.log

But if i restart (means re-launch the ros nodes) it works fine

-- Logs begin at Tue 2020-08-11 07:20:16 UTC, end at Thu 2020-08-13 09:08:51 UTC. --
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.574582032]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /opt/
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.901267939]: mmWaveQuickConfig: reset done Now sending config
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.876405132]: mmWaveQuickConfig: resetting the CLI, with test
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.376282323]: waitForService: Service [/mmWaveCLI] is now available.
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.355572018]: waitForService: Service [/mmWaveCLI] could not connect to host [localhost:42645], waiting...
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.576[ INFO] [1597309721.354773068]: mmWaveQuickConfig: Configuring mmWave device using config file: /opt/ros/melodic/share/ti
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]:
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: ==============================
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Doppler resolution: 0.124 m/s
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Max Doppler: +-0.994 m/s
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Range resolution: 0.244 m
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Max range: 62.457 m
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Frame time: 100.000 ms
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: PRI: 486.980 us
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Bandwidth: 614.400 MHz
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: f_c: 77.412 GHz
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: f_s: 6.250 MHz
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Number of chirps: 16
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Number of range samples: 256
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: ==============================
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: List of parameters
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: ==============================
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.576456839]:
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.540541724]: mmWaveCommSrv: Received response from sensor: 'sensorStart
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.532892750]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.511521718]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 1 -1 1.00
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.507723721]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 1 -1 1.00'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.492354546]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 0 0 50.00
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.488605395]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 0 0 50.00'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.467182280]: mmWaveCommSrv: Received response from sensor: 'aoaFovCfg -1 -90 90 -90 90
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.462896071]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -1 -90 90 -90 90'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.447447267]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 0 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.443953029]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 0 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.428616159]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 127 4
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.424891463]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 127 4'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.405655722]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 4 127 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.401389738]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 4 127 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.378119586]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.372616450]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.345369286]: mmWaveCommSrv: Received response from sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.338107292]: mmWaveCommSrv: Sending command to sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.320724403]: mmWaveCommSrv: Received response from sensor: 'lvdsStreamCfg -1 0 0 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.316721643]: mmWaveCommSrv: Sending command to sensor: 'lvdsStreamCfg -1 0 0 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.303164397]: mmWaveCommSrv: Received response from sensor: 'bpmCfg -1 0 0 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.300117929]: mmWaveCommSrv: Sending command to sensor: 'bpmCfg -1 0 0 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.282638157]: mmWaveCommSrv: Received response from sensor: 'extendedMaxVelocity -1 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.278523269]: mmWaveCommSrv: Sending command to sensor: 'extendedMaxVelocity -1 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.259322687]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 0 -5 8 256
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.254727667]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.239137940]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval -1 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.235502780]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.218099698]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming -1 1 0.5
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.213668989]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.5'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.196011862]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.191656674]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.172169590]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.167748524]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.150212172]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 1 0 0 0 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.146019080]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 1 0 0 0 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.128481802]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.125429037]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.104503151]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 1 16 0 100 1 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.100291408]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 1 16 0 100 1 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.083007715]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 2
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.078895606]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 2'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.061408182]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.057273733]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.026898559]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 438 7 48.98 0 0 15 1 256 6250 0 0 30
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.020200997]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 438 7 48.98 0 0 15 1 256 6250 0 0 30'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.004821614]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.001062206]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.987488307]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.984604406]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.969048665]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 3 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.965583687]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 3 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.950065845]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.946390549]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.932964523]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.930268112]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [5B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Ignored: Sensor is already stopped
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.908715947]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.902717775]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: '~' is not recognized as a CLI command
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.882701488]: mmWaveCommSrv: Received response from sensor: 'test
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.061408182]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.057273733]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.026898559]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 438 7 48.98 0 0 15 1 256 6250 0 0 30
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.020200997]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 438 7 48.98 0 0 15 1 256 6250 0 0 30'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.004821614]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309722.001062206]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.987488307]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.984604406]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.969048665]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 3 0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.965583687]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 3 0'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.950065845]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.946390549]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Done
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.932964523]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.930268112]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [5B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: Ignored: Sensor is already stopped
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.908715947]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.902717775]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [12B blob data]
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: '~' is not recognized as a CLI command
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.882701488]: mmWaveCommSrv: Received response from sensor: 'test
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.877350500]: mmWaveCommSrv: Sending command to sensor: 'test'
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.368789986]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.368780965]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.368772896]: mmWaveDataHdl: data_rate = 921600
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.368756052]: mmWaveDataHdl: data_port = /dev/ttyACM1
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.367602506]: mmWaveCommSrv: command_rate = 115200
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.367582802]: mmWaveCommSrv: command_port = /dev/ttyACM0
Aug 13 09:08:42 deliboz-DBP1005005 sh[2604]: [ INFO] [1597309721.365144951]: Initializing nodelet with 4 worker threads.

There is something weird going on. I tried putting delays before sending the full configuration, but that didn't help much.

Regards

Arun

0 Sabeeh Khan1 over 3 years ago in reply to Arun Ravindran1

TI__Mastermind 20160 points

It seems that the systemd service may be causing a timing issue, hence why the error message varies. Is the systemd service required? Could you use roslaunch as a standalone command?

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IWR1642BOOST: mmwave ros package in consistent behavior