工程师您好,我在打开这个ROS节点时报错 无法启动雷达 日志如下
ubuntu@ubuntu:~/ti/mmwave_ti_ros/ros_driver$ roslaunch ti_mmwave_rospkg 6843_multi_3d_2.launch
... logging to /home/ubuntu/.ros/log/b4550c04-2f22-11ed-88fb-60f262f98cfb/roslaunch-ubuntu-13773.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://ubuntu:38799/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.13
* /ti_mmwave_1/command_port: /dev/ttyACM2
* /ti_mmwave_1/command_rate: 115200
* /ti_mmwave_1/data_port: /dev/ttyACM3
* /ti_mmwave_1/data_rate: 921600
* /ti_mmwave_1/frame_id: ti_mmwave_1
* /ti_mmwave_1/max_allowed_azimuth_angle_deg: 60
* /ti_mmwave_1/max_allowed_elevation_angle_deg: 90
* /ti_mmwave_1/mmWaveCLI_name: /mmWaveCLI
* /ti_mmwave_config/mmWaveCLI_name: /mmWaveCLI
NODES
/
point_adj1 (ti_mmwave_rospkg/point_adj1)
radar_baselink_1 (tf/static_transform_publisher)
ti_mmwave_1 (ti_mmwave_rospkg/ti_mmwave_rospkg)
ti_mmwave_config (ti_mmwave_rospkg/mmWaveQuickConfig)
ROS_MASTER_URI=http://localhost:11311
process[ti_mmwave_1-1]: started with pid [13793]
process[point_adj1-2]: started with pid [13794]
process[ti_mmwave_config-3]: started with pid [13795]
process[radar_baselink_1-4]: started with pid [13796]
[ INFO] [1662606710.891072164]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/ubuntu/ti/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/6843_3d.cfg
[ INFO] [1662606710.894296455]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
[ INFO] [1662606710.911613530]: Initializing nodelet with 12 worker threads.
[ INFO] [1662606710.915037115]: mmWaveCommSrv: command_port = /dev/ttyACM2
[ INFO] [1662606710.915063480]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1662606710.917363087]: mmWaveDataHdl: data_port = /dev/ttyACM3
[ INFO] [1662606710.917391728]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1662606710.917399625]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1662606710.917406875]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 60
[ INFO] [1662606710.921639670]:
==============================
List of parameters
==============================
Number of range samples: 240
Number of chirps: 16
f_s: 7.500 MHz
f_c: 62.300 GHz
Bandwidth: 3200.000 MHz
PRI: 81.000 us
Frame time: 33.333 ms
Max range: 11.242 m
Range resolution: 0.047 m
Max Doppler: +-4.951 m/s
Doppler resolution: 0.619 m/s
==============================
[ INFO] [1662606710.921968239]: DataUARTHandler Read Thread: Port is open
[ INFO] [1662606710.935539889]: waitForService: Service [/mmWaveCLI] is now available.
[ INFO] [1662606711.443840528]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1662606711.450016822]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Ignored: Sensor is already stopped
Done
mmwDemo:/>'
[ INFO] [1662606711.488772095]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1662606711.491820803]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Done
mmwDemo:/>'
[ INFO] [1662606711.530512642]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1662606711.534485017]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Done
mmwDemo:/>'
[ INFO] [1662606711.572804318]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'
[ INFO] [1662606711.576469163]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0
Done
mmwDemo:/>'
[ INFO] [1662606711.614479051]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[ INFO] [1662606711.617645572]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Done
mmwDemo:/>'
[ INFO] [1662606711.656025004]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'
[ INFO] [1662606711.660004279]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 1
Done
mmwDemo:/>'
[ INFO] [1662606711.697770405]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30'
[ INFO] [1662606711.704217890]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30
Done
mmwDemo:/>'
[ INFO] [1662606711.750098461]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1662606711.754505725]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1662606711.792084677]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'
[ INFO] [1662606711.796454177]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4
Done
mmwDemo:/>'
[ INFO] [1662606711.835182020]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'
[ INFO] [1662606711.839442198]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2
Done
mmwDemo:/>'
[ INFO] [1662606711.877043186]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'
[ INFO] [1662606711.881717153]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0
Done
mmwDemo:/>'
[ INFO] [1662606711.923928721]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'
[ INFO] [1662606711.927212144]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 0
Done
mmwDemo:/>'
[ INFO] [1662606711.964560949]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 0 0 0 0 0'
[ INFO] [1662606711.969001348]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 0 0 0 0 0
Done
mmwDemo:/>'
[ INFO] [1662606712.007345897]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1'
[ INFO] [1662606712.011954482]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1
Done
mmwDemo:/>'
[ INFO] [1662606712.050041860]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1'
[ INFO] [1662606712.054764415]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1
Done
mmwDemo:/>'
[ INFO] [1662606712.092936510]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.5'
[ INFO] [1662606712.097637715]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming -1 1 0.5
Done
mmwDemo:/>'
[ INFO] [1662606712.136984742]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 0 '
[ INFO] [1662606712.141051884]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval -1 0
Done
mmwDemo:/>'
[ INFO] [1662606712.178540206]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'
[ INFO] [1662606712.183411369]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 0 -5 8 256
Done
mmwDemo:/>'
[ INFO] [1662606712.220198975]: mmWaveCommSrv: Sending command to sensor: 'extendedMaxVelocity -1 0'
[ INFO] [1662606712.224440499]: mmWaveCommSrv: Received response from sensor: 'extendedMaxVelocity -1 0
Done
mmwDemo:/>'
[ INFO] [1662606712.261128530]: mmWaveCommSrv: Sending command to sensor: 'bpmCfg -1 0 0 1'
[ INFO] [1662606712.264253817]: mmWaveCommSrv: Received response from sensor: 'bpmCfg -1 0 0 1
Done
mmwDemo:/>'
[ INFO] [1662606712.302146164]: mmWaveCommSrv: Sending command to sensor: 'lvdsStreamCfg -1 0 0 0'
[ INFO] [1662606712.306279255]: mmWaveCommSrv: Received response from sensor: 'lvdsStreamCfg -1 0 0 0
Done
mmwDemo:/>'
[ INFO] [1662606712.343344436]: 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] [1662606712.352309301]: 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] [1662606712.389978646]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'
[ INFO] [1662606712.395676663]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2
Done
mmwDemo:/>'
[ INFO] [1662606712.432807731]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 4 99 0'
[ INFO] [1662606712.437340726]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 4 99 0
Done
mmwDemo:/>'
[ INFO] [1662606712.476349102]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'
[ INFO] [1662606712.480417412]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 119 4
Done
mmwDemo:/>'
[ INFO] [1662606712.517737679]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 0 0'
[ INFO] [1662606712.521389239]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 0 0
Done
mmwDemo:/>'
[ INFO] [1662606712.558508267]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -1 -90 90 -90 90'
[ INFO] [1662606712.562985128]: mmWaveCommSrv: Received response from sensor: 'aoaFovCfg -1 -90 90 -90 90
Done
mmwDemo:/>'
[ INFO] [1662606712.601151065]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 0 0 9.00'
[ INFO] [1662606712.605395587]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 0 0 9.00
Done
mmwDemo:/>'
[ INFO] [1662606712.644210685]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 1 -5.14 5.14'
[ INFO] [1662606712.648755402]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 1 -5.14 5.14
Done
mmwDemo:/>'
[ INFO] [1662606712.686771309]: mmWaveCommSrv: Sending command to sensor: 'calibData 0 0 0'
[ INFO] [1662606712.690097315]: mmWaveCommSrv: Received response from sensor: 'calibData 0 0 0
Done
mmwDemo:/>'
[ INFO] [1662606712.727501152]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
[ERROR] [1662606712.851623598]: Exception thrown while processing service call: SerialException device reports readiness to read but returned no data (device disconnected?) failed.
terminate called after throwing an instance of 'serial::SerialException'
what(): SerialException device reports readiness to read but returned no data (device disconnected?) failed.[ERROR] [1662606712.852101889]: Service call failed: service [/mmWaveCLI] responded with an error: SerialException device reports readiness to read but returned no data (device disconnected?) failed.
[ERROR] [1662606712.852214261]: mmWaveQuickConfig: Failed to call service mmWaveCLI
[ERROR] [1662606712.852258060]: sensorStart
[ti_mmwave_1-1] process has died [pid 13793, exit code -6, cmd /home/ubuntu/ti/mmwave_ti_ros/ros_driver/devel/lib/ti_mmwave_rospkg/ti_mmwave_rospkg /ti_mmwave/radar_scan_pcl:=radar_scan_pcl_1 __name:=ti_mmwave_1 __log:=/home/ubuntu/.ros/log/b4550c04-2f22-11ed-88fb-60f262f98cfb/ti_mmwave_1-1.log].
log file: /home/ubuntu/.ros/log/b4550c04-2f22-11ed-88fb-60f262f98cfb/ti_mmwave_1-1*.log
[ti_mmwave_config-3] process has died [pid 13795, exit code 1, cmd /home/ubuntu/ti/mmwave_ti_ros/ros_driver/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig /home/ubuntu/ti/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/6843_3d.cfg __name:=ti_mmwave_config __log:=/home/ubuntu/.ros/log/b4550c04-2f22-11ed-88fb-60f262f98cfb/ti_mmwave_config-3.log].
log file: /home/ubuntu/.ros/log/b4550c04-2f22-11ed-88fb-60f262f98cfb/ti_mmwave_config-3*.log
