Hi,

I'm working on collecting data simultaneously from the AWR1843boost and DCA100EVM boards. After adjusting the config file to activate the ldvs streaming, I can receive data from both boards while working with mmwave demo visualizer. but with this ros node, I can only acces data from the DCA1000 and no data will be published on the /ti_mmwave/radar_scan_pcl topic. Do you have any idea what the problem could be?

Any help would be much appreciated

Bets regards,
Amine
A

[ERROR] [1649958225.980085902]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ERROR] [1649958225.980215123]: mmWaveQuickConfig: Response: ''
[mmWaveQuickConfig-3] process has died [pid 14541, exit code 1, cmd /home/jetson/usb_radar_ws/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig /home/jetson/usb_radar_ws/src/ti_mmwave_rospkg/cfg/1642es2_short_range.cfg __name:=mmWaveQuickConfig __log:=/home/jetson/.ros/log/6c49b462-bc1a-11ec-9af1-401c834229f3/mmWaveQuickConfig-3.log].
log file: /home/jetson/.ros/log/6c49b462-bc1a-11ec-9af1-401c834229f3/mmWaveQuickConfig-3*.log

I am using ubuntu 20.04 and I have ROS neotic.
When I run step 6 launch file:

I encounter an error and This is my output window in the terminal:
... logging to /home/ilab/.ros/log/5d30fa26-0e13-11ed-9007-2dabd0521c8a/roslaunch-smartlab-NUC11PAHi5-297900.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://smartlab-NUC11PAHi5:37337/

SUMMARY

PARAMETERS

• /rosdistro: noetic
• /rosversion: 1.15.14
• /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 [297908]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5d30fa26-0e13-11ed-9007-2dabd0521c8a
process[rosout-1]: started with pid [297918]
started core service [/rosout]
process[ti_mmwave-2]: started with pid [297925]
process[mmWaveQuickConfig-3]: started with pid [297926]
process[static_tf_map_to_base_radar_link-4]: started with pid [297927]
process[rviz-5]: started with pid [297928]
[ INFO] [1658971185.301332854]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/ilab/catkin_ws/src/ti_mmwave_rospkg/cfg/1843es1_long_range_3d.cfg
[ INFO] [1658971185.302543378]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
[ INFO] [1658971185.304412348]: Initializing nodelet with 8 worker threads.
[ INFO] [1658971185.307386416]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1658971185.307406678]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1658971185.308801508]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1658971185.308826801]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1658971185.308837653]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1658971185.308846472]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1658971185.323561742]: waitForService: Service [/mmWaveCLI] is now available.
[ INFO] [1658971185.829670616]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1658971185.836871841]: mmWaveCommSrv: Received response from sensor: 'sensorStop
'f??f??f??' is not recognized as a CLI command
mmwDemo:/>'
[ERROR] [1658971185.838279038]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ERROR] [1658971185.838314257]: mmWaveQuickConfig: Response: 'sensorStop
'f??f??f??' is not recognized as a CLI command
mmwDemo:/>'
[mmWaveQuickConfig-3] process has died [pid 297926, exit code 1, cmd /home/ilab/catkin_ws/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig /home/ilab/catkin_ws/src/ti_mmwave_rospkg/cfg/1843es1_long_range_3d.cfg __name:=mmWaveQuickConfig __log:=/home/ilab/.ros/log/5d30fa26-0e13-11ed-9007-2dabd0521c8a/mmWaveQuickConfig-3.log].
log file: /home/ilab/.ros/log/5d30fa26-0e13-11ed-9007-2dabd0521c8a/mmWaveQuickConfig-3*.log

I have been developing the ROS package for AWR1843. We have written a custom CAN message format from the RADAR side and are successfully able to publish the same on ROS. I was going through your DataHandlerClass.cpp wherein i found the implementation of threads and mutexes. Could you please explain the flow of the program, i tried but was unable to understand the implementation properly.

I am using your ti_mmwave_radar awr1642. I have used ROS Driver to integrate it to the ROS environment. I can able to get sensor_msg/pointcloud2 topic named as ti_mmwave/radar_scan_pcl. I want to calibrate and fuse the RADAR data with data from a USB camera, so I have implemented the cv_camera ROS package for the camera and created a new package called calib. However, I am facing an issue where the message_filter.ApproximateTimeSynchronizer method is not able to invoke the callback function. The topics I am subscribing to are cv_camera/image_raw, cv_camera/camera_info, and ti_mmwave/radar_scan_pcl. When I try to echo the ti_mmwave/radar_scan_pcl topic, the timestamp is not showing.
How can I synchronize the time between the data streams ?
I have given below the code used.
``
import rospy import message_filters from sensor_msgs.msg import Image, CameraInfo, PointCloud2 def callback(image_msg, camera_info_msg, radar_msg): image_sub = message_filters.Subscriber('/cv_camera/image_raw', Image) info_sub = message_filters.Subscriber('/cv_camera/camera_info', CameraInfo) radar_sub = message_filters.Subscriber('ti_mmwave/radar_scan_pcl', PointCloud2) ts = message_filters.ApproximateTimeSynchronizer([image_sub, info_sub, radar_sub ], 10, 0.1) ts.registerCallback(callback) rospy.init_node('sync_node')

``

I have attached the rostopic result of rostopic echo of camera and radar topics. It shows the difference in the time stamps.

Is the time stamp difference is the main reason for callback method not able to invoke ?

How can i set the time_from_ROS as the time stamp source for the ti_mmwave radar? or rather how can solve the above issue ?

Thanks in advance.

I am confused by location of ti_mmwave_pcl frame in real world.

While Visualizing Data in RVIZ I can see that there is some point cloud which is in real of 3d plane but in Rviz it is shown in 2D plane itself so can u please fix this bug ?
I am using AWR1642BOOST EVM es2

I would like to know how to project x,y coordinates of the radar onto the 2d image of the camera. Presently i am using usb camera and i did camera calibration. I have tried two methods to do the radar to camera calibration. First one is CV2.SolvePNP and second method is homography. Unfortunately, the both experiment results were not accurate. Its RMSE values are higher even after collecting more than 30 corresponding points. I have tried to reduce RMSE value, but its not working. can anyone suggest any solution to implement the radar to camera calibration ?

When I roslaunch 1642_es1_shortrange, rviz shows the points..rostopic list also shows all the topics..but when I try to echo /ti_mmwave/radar_scan I get the following error

[ERROR] [1560959704.267214768]: Client [/rostopic_26848_1560959704052] wants topic /ti_mmwave/radar_scan to have datatype/md5sum [ti_mmwave_rospkg/RadarScan/a4d09446d2fc17ce80358b29d25af8b6], but our version has [ti_mmwave_rospkg/RadarScan/7a726cbc7d2934bb55d96dada9040f86]. Dropping connection.

Have you experienced this issue before? Any suggestions?

I can see pointcloud and image on Ubuntu18.04 and ROS melodic ,but see nothing on Ubuntu20.04 and ROS neotic, and there is no error ,the rviz can show image but the pointcloud can't be shown

Hi, @zrmaker Thanks for the codebase.
I see that this repo is not active recently so maybe you are not working much on it. But if you have time, can you please share information about the extrinsic calibration method between the radar and camera?

Hello everyone,

Would it be possible to use the work done here on an AWR6843AOP EVM board, since they have much similarities (changing the different configurations and settings).

Thanks for the answer !
Lilia.

Does this package works with https://www.ti.com/tool/TIDEP-01012 too?

Hi,
Can you brief about the approach that you took here?
Like how did you come to know about the data that is coming from the DSP?
What all we have to keep in mind to read the radar coming from Radar into ROS ?

Regards

Hello, I was having issues getting this package to work but the following changes have made it work, just leaving this here to help other that might have the same issues:

1. change /src/ti_mmwave_rospkg/CMakeLists.txt to use C++14: add_definitions(-std=c++14)
2. change the .cfg fields to match the version of the SDK on the board, use this tool for SDK 2.1 for example
3. I had a recurring error while parsing the config file where all the parameters were being sent correctly but the command SensorStart was not returning "Done". In order to fix this I added a small delay between sending parameters in the "/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp": ros::Duration(0.2).sleep(); // sleep for a small time in line 38, right after this "if":
   // ROS_INFO("mmWaveQuickConfig: Sending command: '%s'", srv.request.comm.c_str() ); if (client.call(srv)) {

With these changes everything is working fine for me in ROS Noetic.

Hello,

You have prepared the ROS package to work with the 4Rx,3Tx(15deg + Elevation).
I would like to use the 2D mode (4Rx,2Tx )but everything I change seems to be useless. I have tried to change the launch file but that does not seem to do anything.

I have also tried to change manually the .cfg file, but it also seems like it has no use.

How should I proceed?

The error code like this.The method you mentioned in readme has been tried several times but failed. Can you help me if you have any successful one

Hello,

Can this software work with AWR1243BOOST hardware? I have an extra Tiva-C launchpad, the and the AWR1243BOOST evaluation kit.

Could I make some modifications in this software and make them work?

Best regards,
C.A.

Hello,

although the project doesnt output doppler_bin range and bearing i was able to change somethings in the header file and the datahandlerclass.cpp to make it possible to have the bearing but im still having problem with the other 2 it is actually outputting the index of range and doppler_bin here is the code i am using

radarscan.range = mmwData.newObjOut.range * vrange;
radarscan.velocity = mmwData.newObjOut.v 
radarscan.doppler_bin = mmwData.newObjOut.doppler;

the outputs im getting are these :

header: 
  seq: 4706
  stamp: 
    secs: 1648822232
    nsecs: 384347895
  frame_id: "ti_mmwave_0"
point_id: 1
x: 0.5450921058654785
y: -0.3482675850391388
z: 0.5625860691070557
range: 4775.673828125
velocity: -1.476569414138794
doppler_bin: 38806
bearing: -32.57512664794922
intensity: 47.127925872802734
---

Does anyone know how to solve this

Hi,
I am using TI mmwave radar AWR1642 in short range. Through data collection, I have observed that the radar provides detection up-to 10m range in depth(X axis). Another feature i observed is that the axis of radar is aligned so that the origin is at centre and x axis increases from zero to max, y axis ranges from positive max to negative max. While calibrating radar and camera

1. should i shift the origin towards the side?
2. what is the maximum detection range horizontally(Y axis)?

Note: On the image below, Image from, it shows that horizontal range is -8.5 to 8.5m that is approx 17m. Is this valid ?

Thanks in advance.
Deepak

Appreciatie for your great work,
I like to know whether you guys have worked on extending this rospkg to suit for other ti radars, like xwr6843 and etc.
great wished!

Will this allow the use of the DCA1000 EVM to get raw data out of the radar? Someone mentions it in a closed issue but not sure where to start

I save the '.cfg' file from the online demo visualizer and load it into ROS pipeline. There are no values for fields 'range', 'doppler_bin', 'bearing' and 'intensity' in any default scenes (best range, best range resolution, best velocity resolution) whatever it is 2d or 3d. But I can get the velocity values all the time.

I am using TI mmwave AWR1642 radar on ROS. The rostopic ti_mmwave/radar_scan_pcl gives output type sensor_msgs/PointCloud2 and the data contains x,y,z, and intensity values of all the points in that particular instant. But it doesn't contain velocity information.

I found that the rostopic ti_mmwave/radar_scan gives output type ti_mmwave_rospkg/Radarscan and when I tried to extract the data it contains only one value at an instant. Like (x,y,z,range,velocity,intensity,bearing), etc. But only one coordinate at an instance instead of all the points detected at that instant.

So, coming to my doubts...

How can I get velocity using these topics?
Why does the ti_mmwave/radar_scan topic only show on point at an instance?
Is there any way to obtain the velocity and coordinates for all points at every frame using the ti_mmwave/radar_scan topic?

After I run the roslaunch ti_mmwave_rospkg 1642es2_short_range.launch
It comes some error . I have successfully complied serial and ti_mmwave_rospkg using cmake.

[ERROR] [1563196261.655115756]: Failed to load nodelet [mmWaveCommSrv] of type [ti_mmwave_rospkg/mmWaveCommSrv] even after refreshing the cache: Could not find library corresponding to plugin ti_mmwave_rospkg/mmWaveCommSrv. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

[ERROR] [1563196261.655205565]: The error before refreshing the cache was: Could not find library corresponding to plugin ti_mmwave_rospkg/mmWaveCommSrv. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

[ERROR] [1563196261.668999948]: Failed to load nodelet [mmWaveDataHdl] of type [ti_mmwave_rospkg/mmWaveDataHdl] even after refreshing the cache: Could not find library corresponding to plugin ti_mmwave_rospkg/mmWaveDataHdl. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

[ERROR] [1563196261.669049214]: The error before refreshing the cache was: Could not find library corresponding to plugin ti_mmwave_rospkg/mmWaveDataHdl. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

add support for SRR demo with USSR point cloud and SRR objects.

Hi,

I was able to run the rviz and see the point cloud and maybe save it to a .csv file. However, I want to check the data(x, y, z coordinate and doppler, etc.). Which command should I use to see the message the save it? I didn't find the message in the terminal or somewhere else.

Also, the second question is I only want the dynamic point cloud. But when I change the clutterremoval in .cfg file from 0 to 1, rviz doesn't show any point cloud then. What should be the correct way to do it?

Thanks a lot!

Hello, I am working on Point Cloud Human Activity Recognition through millimeter-wave radar, now I have a IWR6843ISK-ODS, I want to know , can I use this repo's tool to get point cloud data on Ubuntu?

How can i get the velocity of each detected objects using radar ? can anyone help me to sort out the issue ?

Thanks in advance

header: seq: 4890 stamp: secs: 1570222264 nsecs: 810949472 frame_id: "ti_mmwave" point_id: 4 x: 4.4609375 y: 1.46875 z: 0.0 range: 5.76523923874 velocity: 0.0 doppler_bin: 8 bearing: 18.2239704132 intensity: 22.3552837372
I test the package on IWR1443, however the velocity output is always 0.

I have been developing the ROS package for AWR1642ES2.0 EVM. However, when run the command "sudo chmod 666 /dev/ttyACM0", I encountered the error "cannot access dev/ttyACM0: No such a file or directory". I wonder if you have seen this error before and how to fix it. Looking forward to your reply, thanks!

Hi

I am currently using the AWR1843AOP with the driver. Unfortunately, I am not able to "rostopic echo /ti_mmwave/radar_scan". I am not sure whether there is some problem with my ROS setting or your driver has a small problem.

Regardless of that, I am able to echo the topic /ti_mmwave/radar_scan_pcl_0 with launching the driver 1843_multi_3d_0.launch
Here is one sample of the data I am getting. I know that there are 6 objects detected from the header. However, I am not capable of understanding what the numbers mean in data array. I know it is better to reshape the data into a 6*32 matrix. Could you please give me some hint with that?

header:
seq: 6701
stamp:
secs: 0
nsecs: 0
frame_id: "/ti_mmwave_0"
height: 1
width: 6
fields:

name: "x"
offset: 0
datatype: 7
count: 1

• name: "y"
  offset: 4
  datatype: 7
  count: 1
• name: "z"
  offset: 8
  datatype: 7
  count: 1
• name: "intensity"
  offset: 16
  datatype: 7
  count: 1
• name: "velocity"
  offset: 20
  datatype: 7
  count: 1
  is_bigendian: False
  point_step: 32
  row_step: 192
  data: [180, 122, 18, 60, 127, 10, 73, 188, 191, 136, 39, 61, 0, 0, 0, 0, 102, 102, 12, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 130, 75, 60, 255, 96, 95, 60, 31, 243, 33, 61, 0, 0, 0, 0, 102, 102, 12, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 90, 232, 148, 63, 63, 50, 17, 63, 255, 6, 6, 63, 0, 0, 0, 0, 0, 0, 148, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 208, 190, 159, 63, 67, 6, 43, 63, 167, 151, 18, 63, 0, 0, 0, 0, 205, 204, 216, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 100, 204, 63, 247, 184, 43, 63, 159, 246, 228, 62, 0, 0, 0, 0, 0, 0, 164, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 251, 14, 34, 64, 1, 158, 63, 63, 143, 83, 170, 62, 0, 0, 0, 0, 102, 102, 110, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
  is_dense: True

I really appreciated your help.

Best regards

Hi I am trying to install your repo on Ubuntu 20.04 with ROS Noetic and catkin_make is failing. It seems to be to do with also having the common_msgs package in the src folder. Several of the errors shown below come up relating to the different message types in common_msgs.

CMake Error at /home/charlie/catkin_ws/build/common_msgs/sensor_msgs/cmake/sensor_msgs-genmsg.cmake:343 (add_custom_target):
add_custom_target cannot create target "sensor_msgs_generate_messages_cpp"
because another target with the same name already exists. The existing
target is a custom target created in source directory
"/home/charlie/catkin_ws/src/ti_mmwave_rospkg". See documentation for
policy CMP0002 for more details.
Call Stack (most recent call first):
/opt/ros/noetic/share/genmsg/cmake/genmsg-extras.cmake:307 (include)
common_msgs/sensor_msgs/CMakeLists.txt:46 (generate_messages)

However, if i remove common_msgs from the folder I get this error:

CMake Error at /home/charlie/catkin_ws/devel/share/sensor_msgs/cmake/sensor_msgsConfig.cmake:113 (message):
Project 'sensor_msgs' specifies
'/home/charlie/catkin_ws/src/common_msgs/sensor_msgs/include' as an include
dir, which is not found. It does neither exist as an absolute directory
nor in
'/home/charlie/catkin_ws/src/common_msgs/sensor_msgs//home/charlie/catkin_ws/src/common_msgs/sensor_msgs/include'.
Check the website 'http://ros.org/wiki/sensor_msgs' for information and
consider reporting the problem.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
ti_mmwave_rospkg/CMakeLists.txt:10 (find_package)

I was wondering if there is a workaround or if my setup is wrong.
Looks like the repo will be really useful when it works!
Cheers,
Charlie

Hello, I want to know whether the coordinate of three axes can be obtained while using the board of AWR1642ES2.0 EVM. Or just the x,y-coordinate can be captured? Looking forward to your reply, thanks!

I'm interested in using this package for academic research purposes, but it doesn't contain a license. Could you please add one so that this code is legally usable for other purposes? It would be very much appreciated!

Hi I was wondering if it was possible to get a ROS2 version of this package? I am new to ROS and so was wondering how we would be able to port this over.

Hello,

I am trying to use the device AWR1843 BOOST. However, the fields for the range profile, the data I need to work, are always zero:
Also, how can I change this for the 2D configuration?

header: 
  seq: 1265
  stamp: 
    secs: 1591712679
    nsecs:  33523020
  frame_id: "ti_mmwave"
point_id: 2
x: 2.1605360508
y: -0.458005964756
z: 1.04359507561
range: 0.0
velocity: 0.0
doppler_bin: 0
bearing: 0.0
intensity: 0.0

Hello

i was wondering if you can help me with making this tutorial work with IWR6843AOP in fact i am not looking for traffic monitoring or anything i am just looking to publish the pointcloud and get the micro doppler signature but i can't run the demo with IWR6843AOP
it might be the binaries flashed with or anything else

i hope someone can help me and thank you in advance

Best regards

I am not sure if you have already tested the code for awr1843ES2 yet. I am looking at artifacts in the detection as seen from rzi and also found some typos in the source file.

Hi,

where can I buy the frame holding radar and camera? Could you tell us something about the recommended usb camera (mounted on top of the radar)?

When starting roslaunch ti_mmwave_rospkg camera_overlay.launch the following error appears:

[ INFO] [1571750773.048121698]: camera calibration URL: file:///home/dkubatin/catkin_ws/src/usb_webcam/cfg/ost.yaml
[ INFO] [1571750773.049147686]: Starting 'elp-usb8mp02g-l36' (/dev/video1) at 640x480 via mmap (grey) at 30 FPS
[ERROR] [1571750773.049215268]: VIDIOC_S_FMT error 22, Invalid argument
[usb_webcam-1] process has died [pid 11063, exit code 1, cmd /home/dkubatin/catkin_ws/devel/lib/usb_webcam/usb_webcam_node __name:=usb_webcam __log:=/home/dkubatin/.ros/log/fb634874-f4c2-11e9-abf3-704d7b8625db/usb_webcam-1.log].
log file: /home/dkubatin/.ros/log/fb634874-f4c2-11e9-abf3-704d7b8625db/usb_webcam-1*.log

ROS works, dots are displayed, but the window with the camera is constantly black.
Changing pixel_format does not entail any changes.