IWR1443BOOST: IWR1443BOOST: 两块IWR1443BOOST雷达同时运行后没有点云数据

?? ?

Part Number: IWR1443BOOST
Other Parts Discussed in Thread: IWR1443

您好，我们有两块同样的IWR1443毫米波雷达，现在想要同时启动两块雷达，我们启动的文件是1443_multi_3d_0.launch和1443_multi_3d_1.launch。1443_multi_3d_0.launch中的端口是/dev/ttyACM0、/dev/ttyACM1，1443_multi_3d_1.launch中的端口是/dev/ttyACM2、/dev/ttyACM3。在两块雷达启动前，我们已经给了这四个端口的权限，但是当我们分别启动这两个文件时，两块毫米波雷达都没有点云数据，或者随机有一块雷达有数据，另一块雷达没有任何反应。

我们使用的是mmwave_ti_ros包，代码没有重新修改编译过。

但是当我们单独启动这两块，它们单独又是可以工作的，这应该可以说明不是这两块雷达本身的问题。以下是单独启动一块雷达时的话题显示：

下面这张图是我们启动两块雷达后的话题显示：（和单独一块雷达工作时，多了一个话题 /ti_mmwave/radar_scan_pcl_1）

我们目前怀疑是两块雷达使用接口的问题，我们目前有以下几个疑问不知道是不是和问题相关：
1、两块雷达的启动是否有固定顺序？先启动端口/dev/ttyACM0和/dev/ttyACM1，再启动/dev/ttyACM2和/dev/ttyACM3？

2、哪块雷达使用端口/dev/ttyACM0和/dev/ttyACM1，哪块雷达使用端口/dev/ttyACM2和/dev/ttyACM3？这是由什么决定的？因为我们发现根据两块雷达的启动顺序不同，它们使用的端口号也会随之发生改变？

3、源码有哪里需要修改吗？因为我们使用的代码和启动一块雷达的代码一模一样，除了用/dev/ttyACM2和/dev/ttyACM3代替/dev/ttyACM0和/dev/ttyACM1，其他部分没有进行任何修改，所以想问下当我们使用两块雷达时，源码中是否有哪里需要进行修改后重新编译的？比如说获取点云后的话题名称？我们现在不确定两块雷达在源码中是否用的同一个话题名称，这又是否会对两块雷达的数据获取造成影响

如果您有任何需要我们补充的信息我们会及时补充。期盼您的回复。

4 个月前

0 Gary Lu 4 个月前

TI__Mastermind 27060 points

1. 两块雷达的启动顺序应该不会影响其正常工作。软件应该能够正确处理多个雷达同时启动的情况。

2. 会按照设备连接的顺序分配端口号但并不影响雷达的正常工作。

3. 需要检查一下该包中的参数设置和话题名称是否正确。确保两块雷达使用不同的话题名称来发布数据，

0 ?? ? 4 个月前回复 Gary Lu

Prodigy 30 points

您好，根据您的回答我们检查了源码中的DataHandlerClass.cpp文件，将两个雷达启动后的数据接收话题修改成不一样的，发出的点云话题也修改成不一样的，但是在我们运行过程中还是没有成功，甚至单独启动一块雷达时也偶尔会没有点云数据。
下面是启动第一块雷达时命令行的信息：

SUMMARY

========

PARAMETERS

* /radar_0/mmWaveQuickConfig/mmWaveCLI_name: /mmWaveCLI

* /radar_0/mmWave_Manager/command_port: /dev/ttyACM0

* /radar_0/mmWave_Manager/command_rate: 115200

* /radar_0/mmWave_Manager/data_port: /dev/ttyACM1

* /radar_0/mmWave_Manager/data_rate: 921600

* /radar_0/mmWave_Manager/frame_id: ti_mmwave_0

* /radar_0/mmWave_Manager/max_allowed_azimuth_angle_deg: 90

* /radar_0/mmWave_Manager/max_allowed_elevation_angle_deg: 90

* /radar_0/mmWave_Manager/mmWaveCLI_name: /mmWaveCLI

* /rosdistro: melodic

* /rosversion: 1.14.13

NODES

/radar_0/

mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig)

mmWave_Manager (ti_mmwave_rospkg/ti_mmwave_rospkg)

ROS_MASTER_URI=http://192.168.0.100:11311

process[radar_0/mmWave_Manager-1]: started with pid [28611]

process[radar_0/mmWaveQuickConfig-2]: started with pid [28612]

[ INFO] [1703497944.989618022]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703497944.995629063]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...

[ INFO] [1703497945.100868386]: Initializing nodelet with 4 worker threads.

[ INFO] [1703497945.117797501]: mmWaveCommSrv: command_port = /dev/ttyACM0

[ INFO] [1703497945.117881042]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1703497945.127515782]: waitForService: Service [/mmWaveCLI] is now available.

[ INFO] [1703497945.128348699]: mmWaveDataHdl: data_port = /dev/ttyACM1

[ INFO] [1703497945.128423334]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1703497945.128474636]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1703497945.128522449]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1703497950.762755676]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1703497951.763054165]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703497956.915515100]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703497956.915611090]: mmWaveQuickConfig: Response: ''

[ INFO] [1703497962.024591661]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1703497963.024805931]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703497968.180015617]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703497968.180099575]: mmWaveQuickConfig: Response: ''

[ INFO] [1703497973.288627073]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1703497974.288357802]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703497979.444300456]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703497979.444379258]: mmWaveQuickConfig: Response: ''

[ INFO] [1703497984.556581079]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1703497985.557058996]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703497990.706410608]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703497990.706496233]: mmWaveQuickConfig: Response: ''

[ INFO] [1703497995.817454044]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1703497996.817502429]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498001.971213208]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498001.971304406]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498007.080667946]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'

[ INFO] [1703498008.081052893]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498013.235097839]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498013.235296381]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498018.345862108]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'

[ INFO] [1703498019.346595077]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498024.499819293]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498024.499911429]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498029.609682312]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1703498030.611289968]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498035.763014549]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498035.763089862]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498040.872907360]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1703498041.873261787]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498047.027282410]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498047.027380587]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498052.136695533]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1703498053.136898241]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498058.290758082]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498058.290854072]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498063.400996883]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1703498064.401642507]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498069.556406880]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498069.556485109]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498074.664821722]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'

[ INFO] [1703498075.664524586]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498080.819334949]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498080.819418491]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498102.579090878]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498102.579404732]: mmWaveQuickConfig: Response: ''

^C[radar_0/mmWaveQuickConfig-2] killing on exit

[radar_0/mmWave_Manager-1] killing on exit

[radar_0/mmWave_Manager-1] escalating to SIGTERM

shutting down processing monitor...

... shutting down processing monitor complete

done

下面是启动第二块雷达时命令行的信息：

SUMMARY

========

PARAMETERS

* /radar_1/ti_mmwave/command_port: /dev/ttyACM2

* /radar_1/ti_mmwave/command_rate: 115200

* /radar_1/ti_mmwave/data_port: /dev/ttyACM3

* /radar_1/ti_mmwave/data_rate: 921600

* /radar_1/ti_mmwave/frame_id: ti_mmwave_1

* /radar_1/ti_mmwave/max_allowed_azimuth_angle_deg: 90

* /radar_1/ti_mmwave/max_allowed_elevation_angle_deg: 90

* /radar_1/ti_mmwave/mmWaveCLI_name: /mmWaveCLI

* /radar_1/ti_mmwave_config/mmWaveCLI_name: /mmWaveCLI

* /rosdistro: melodic

* /rosversion: 1.14.13

NODES

/radar_1/

ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg)

ti_mmwave_config (ti_mmwave_rospkg/mmWaveQuickConfig)

ROS_MASTER_URI=http://192.168.0.100:11311

process[radar_1/ti_mmwave-1]: started with pid [24477]

process[radar_1/ti_mmwave_config-2]: started with pid [24491]

[ INFO] [1703498079.390850939]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703498079.490134324]: Initializing nodelet with 4 worker threads.

[ INFO] [1703498079.517888022]: mmWaveCommSrv: command_port = /dev/ttyACM2

[ INFO] [1703498079.517970626]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1703498079.533594585]: mmWaveDataHdl: data_port = /dev/ttyACM3

[ INFO] [1703498079.533678022]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1703498079.533729793]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1703498079.533771876]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1703498085.161816093]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1703498086.162086874]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498091.314900674]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498091.314990987]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498096.428782808]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 3 0 768'

[ INFO] [1703498097.429014630]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498107.688546657]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1703498108.688722803]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498113.842636290]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498113.842717749]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498118.952582799]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'

[ INFO] [1703498119.952783476]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498121.893345350]:

==============================

List of parameters

==============================

Number of range samples: -152961520

Number of chirps: 127

f_s: 0.000 MHz

f_c: -557634151139428415051923456.000 GHz

Bandwidth: 0.000 MHz

PRI: 0.000 us

Frame time: 0.000 ms

Max range: nan m

Range resolution: inf m

Max Doppler: +--inf m/s

Doppler resolution: -inf m/s

==============================

[ INFO] [1703498121.894207173]: DataUARTHandler Read Thread: Port is open

[ INFO] [1703498121.902151183]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1703498122.902382381]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498122.912351339]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498122.912447745]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498122.917735662]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1703498123.918009568]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498123.928009932]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498123.928106495]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498123.933565193]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1703498124.933784515]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498124.943663005]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498124.943757745]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498124.949177015]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'

[ INFO] [1703498125.949094515]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498125.958870140]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498125.958966755]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498125.964666130]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'

[ INFO] [1703498126.964885244]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498126.974816754]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498126.974907483]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498126.980344775]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1703498127.980560348]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498127.990732795]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498127.990821962]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498127.996224983]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1703498128.996509722]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498129.006285243]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498129.006382222]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498129.011885868]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1703498130.012113107]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498130.022044826]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498130.022164722]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498130.027573941]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1703498131.027819773]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498131.037777742]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498131.037873523]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498131.043417638]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'

[ INFO] [1703498132.043719669]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498132.053614461]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498132.053707169]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498132.059108836]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 3 0 768'

[ INFO] [1703498133.059288366]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498133.069081179]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498133.069172637]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498133.074603002]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'

[ INFO] [1703498134.074834199]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498134.084664356]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498134.084750397]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498134.090103991]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming 1 0.5'

[ INFO] [1703498135.090363366]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498135.100168314]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498135.100267897]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498135.105728991]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 0'

[ INFO] [1703498136.105941490]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498136.115766594]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498136.115861282]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498136.121330813]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig 0 -5 8 256'

[ INFO] [1703498137.121536802]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498137.131442896]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498137.131536073]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498137.137148052]: 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] [1703498138.137428156]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498138.147308052]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498138.147402479]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498138.152970083]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1703498139.153264770]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498139.163120187]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498139.163252635]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498139.168457739]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0'

[ INFO] [1703498140.168670395]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498140.178380551]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498140.178474666]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498140.184228051]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'

[ INFO] [1703498141.184458415]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498141.194509665]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498141.194595655]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498141.199851020]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1'

[ INFO] [1703498142.199337373]: mmWaveCommSrv: Received response from sensor: ''

[ INFO] [1703498142.209186071]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703498142.209273103]: mmWaveQuickConfig: Response: ''

[ INFO] [1703498142.215072373]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'

^C[radar_1/ti_mmwave_config-2] killing on exit

[radar_1/ti_mmwave-1] killing on exit

[radar_1/ti_mmwave-1] escalating to SIGTERM

shutting down processing monitor...

... shutting down processing monitor complete

done

启动两块雷达时都是报 mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')，我不知道这是哪里的问题？？

下面是其中一块雷达的启动文件，另一个启动文件除了接口名称和点云话题名称（/ti_mmwave/radar_scan_pcl_0）不一样之外都是一样的：

<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]}"/>

</node>

</node>

</launch>

两块雷达的启动文件中 mmWaveCLI_name 的名称都是 /mmWaveCLI，我不知道这有没有影响？？

以下是 1443_3d.cfg 内容：

% ***************************************************************

% Created for SDK ver:01.02

% Created using Visualizer ver:1.2.0.0

% Frequency:77

% Platform:xWR14xx

% Scene Classifier:best_range_res

% Azimuth Resolution(deg):15 + Elevation

% Range Resolution(m):0.044

% Maximum unambiguous Range(m):9.01

% Maximum Radial Velocity(m/s):5.06

% Radial velocity resolution(m/s):0.64

% Frame Duration(msec):33.333

% Range Detection Threshold (dB):9

% Range Peak Grouping:disabled

% Doppler Peak Grouping:enabled

% Static clutter removal:disabled

% ***************************************************************

sensorStop

flushCfg

dfeDataOutputMode 1

channelCfg 15 7 0

adcCfg 2 1

adcbufCfg 0 1 0 1

profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30

chirpCfg 0 0 0 0 0 0 0 1

chirpCfg 1 1 0 0 0 0 0 4

chirpCfg 2 2 0 0 0 0 0 2

frameCfg 0 2 16 0 33.333 1 0

guiMonitor 1 0 0 0 0 0

cfarCfg 0 2 8 4 3 0 768

peakGrouping 1 0 1 1 229

multiObjBeamForming 1 0.5

clutterRemoval 0

calibDcRangeSig 0 -5 8 256

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

measureRangeBiasAndRxChanPhase 0 1.5 0.2

CQRxSatMonitor 0 3 5 123 0

CQSigImgMonitor 0 119 4

analogMonitor 1 1

calibData 0 0 0

sensorStart

根据网上博客的建议，我尝试将 calibData 0 0 0 注释，但是还是没有效果。

希望得到您的解答。

0 ?? ? 4 个月前回复 ?? ?

Prodigy 30 points

您好，我断电后重新启动两块雷达，成功了一次，两块雷达同时有点云信息。（代码没有任何改动）

以下是第一块雷达启动时命令行的输出：

SUMMARY

========

PARAMETERS

* /radar_0/mmWaveQuickConfig/mmWaveCLI_name: /mmWaveCLI

* /radar_0/mmWave_Manager/command_port: /dev/ttyACM0

* /radar_0/mmWave_Manager/command_rate: 115200

* /radar_0/mmWave_Manager/data_port: /dev/ttyACM1

* /radar_0/mmWave_Manager/data_rate: 921600

* /radar_0/mmWave_Manager/frame_id: ti_mmwave_0

* /radar_0/mmWave_Manager/max_allowed_azimuth_angle_deg: 90

* /radar_0/mmWave_Manager/max_allowed_elevation_angle_deg: 90

* /radar_0/mmWave_Manager/mmWaveCLI_name: /mmWaveCLI

* /rosdistro: melodic

* /rosversion: 1.14.13

NODES

/radar_0/

mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig)

mmWave_Manager (ti_mmwave_rospkg/ti_mmwave_rospkg)

ROS_MASTER_URI=http://192.168.0.100:11311

process[radar_0/mmWave_Manager-1]: started with pid [13522]

process[radar_0/mmWaveQuickConfig-2]: started with pid [13525]

[ INFO] [1703501497.039502246]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703501497.046666673]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...

[ INFO] [1703501497.170315527]: Initializing nodelet with 4 worker threads.

[ INFO] [1703501497.187042975]: mmWaveCommSrv: command_port = /dev/ttyACM0

[ INFO] [1703501497.187220579]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1703501497.198035579]: mmWaveDataHdl: data_port = /dev/ttyACM1

[ INFO] [1703501497.198115787]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1703501497.198166412]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1703501497.198213444]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1703501497.202351412]: waitForService: Service [/mmWaveCLI] is now available.

[ INFO] [1703501497.714929902]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1703501497.721463548]: mmWaveCommSrv: Received response from sensor: 'sensorStop

'#?`?#?' is not recognized as a CLI command

mmwDemo:/>'

[ INFO] [1703501497.732464277]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703501497.732618808]: mmWaveQuickConfig: Response: 'sensorStop

'#?`?#?' is not recognized as a CLI command

mmwDemo:/>'

[ INFO] [1703501497.737343652]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1703501497.740269589]: mmWaveCommSrv: Received response from sensor: 'flushCfg

Done

mmwDemo:/>'

[ INFO] [1703501497.755609902]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1703501497.759584537]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1

Done

mmwDemo:/>'

[ INFO] [1703501497.775572975]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1703501497.779230423]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0

Done

mmwDemo:/>'

[ INFO] [1703501497.793962975]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1703501497.797010943]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1

Done

mmwDemo:/>'

[ INFO] [1703501497.812008496]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'

[ INFO] [1703501497.815685058]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg 0 1 0 1

Done

mmwDemo:/>'

[ INFO] [1703501497.830141673]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'

[ INFO] [1703501497.836691048]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30

Done

mmwDemo:/>'

[ INFO] [1703501497.877098443]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1703501497.881497089]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1

Done

mmwDemo:/>'

[ INFO] [1703501497.898098027]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1703501497.902287141]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4

Done

mmwDemo:/>'

[ INFO] [1703501497.917601360]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1703501497.921803287]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2

Done

mmwDemo:/>'

[ INFO] [1703501497.938142662]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1703501497.942963652]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0

Done

mmwDemo:/>'

[ INFO] [1703501497.975637245]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'

[ INFO] [1703501497.979972975]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 1 0 0 0 0 0

Done

mmwDemo:/>'

[ INFO] [1703501497.995174381]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 3 0 768'

[ INFO] [1703501497.999048183]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 0 2 8 4 3 0 768

Done

mmwDemo:/>'

[ INFO] [1703501498.013258964]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'

[ INFO] [1703501498.017518860]: mmWaveCommSrv: Received response from sensor: 'peakGrouping 1 0 1 1 229

Done

mmwDemo:/>'

[ INFO] [1703501498.032277662]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming 1 0.5'

[ INFO] [1703501498.036856412]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming 1 0.5

Done

mmwDemo:/>'

[ INFO] [1703501498.052024745]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 0'

[ INFO] [1703501498.055621412]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 0

Done

mmwDemo:/>'

[ INFO] [1703501498.070396516]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig 0 -5 8 256'

[ INFO] [1703501498.074808495]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig 0 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1703501498.089796047]: 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] [1703501498.098582089]: 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] [1703501498.113481204]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1703501498.119087141]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2

Done

mmwDemo:/>'

[ INFO] [1703501498.134029537]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0'

[ INFO] [1703501498.138428391]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 123 0

Done

mmwDemo:/>'

[ INFO] [1703501498.154075110]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'

[ INFO] [1703501498.158113600]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 119 4

Done

mmwDemo:/>'

[ INFO] [1703501498.172273860]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1'

[ INFO] [1703501498.175988860]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 1 1

Done

mmwDemo:/>'

[ INFO] [1703501498.190398391]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'

[ INFO] [1703501498.264257974]: mmWaveCommSrv: Received response from sensor: 'sensorStart

Debug: Init Calibration Status = 0x7fe

Done

mmwDemo:/>'

[ INFO] [1703501498.338810839]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703501498.365752037]:

==============================

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] [1703501498.367869849]: DataUARTHandler Read Thread: Port is open

[radar_0/mmWaveQuickConfig-2] process has finished cleanly

log file: /home/wheeltec/.ros/log/31b535b0-a313-11ee-aeb6-00044bd532ff/radar_0-mmWaveQuickConfig-2*.log

以下是第二块雷达启动时命令行的输出信息：

SUMMARY

========

PARAMETERS

* /radar_1/ti_mmwave/command_port: /dev/ttyACM2

* /radar_1/ti_mmwave/command_rate: 115200

* /radar_1/ti_mmwave/data_port: /dev/ttyACM3

* /radar_1/ti_mmwave/data_rate: 921600

* /radar_1/ti_mmwave/frame_id: ti_mmwave_1

* /radar_1/ti_mmwave/max_allowed_azimuth_angle_deg: 90

* /radar_1/ti_mmwave/max_allowed_elevation_angle_deg: 90

* /radar_1/ti_mmwave/mmWaveCLI_name: /mmWaveCLI

* /radar_1/ti_mmwave_config/mmWaveCLI_name: /mmWaveCLI

* /rosdistro: melodic

* /rosversion: 1.14.13

NODES

/radar_1/

ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg)

ti_mmwave_config (ti_mmwave_rospkg/mmWaveQuickConfig)

ROS_MASTER_URI=http://192.168.0.100:11311

process[radar_1/ti_mmwave-1]: started with pid [30053]

process[radar_1/ti_mmwave_config-2]: started with pid [30056]

[ INFO] [1703502094.036944466]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703502094.152608789]: Initializing nodelet with 4 worker threads.

[ INFO] [1703502094.173153528]: mmWaveCommSrv: command_port = /dev/ttyACM2

[ INFO] [1703502094.173234101]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1703502094.183316601]: mmWaveDataHdl: data_port = /dev/ttyACM3

[ INFO] [1703502094.183394362]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1703502094.183462851]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1703502094.183507226]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1703502094.219752903]:

==============================

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] [1703502094.221258112]: DataUARTHandler Read Thread: Port is open

[ INFO] [1703502094.558722799]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1703502094.580561601]: mmWaveCommSrv: Received response from sensor: 'sensorStop

Done

mmwDemo:/>'

[ INFO] [1703502094.595991289]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1703502094.598837435]: mmWaveCommSrv: Received response from sensor: 'flushCfg

Done

mmwDemo:/>'

[ INFO] [1703502094.614293476]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1703502094.618113476]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1

Done

mmwDemo:/>'

[ INFO] [1703502094.633313268]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1703502094.636977695]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0

Done

mmwDemo:/>'

[ INFO] [1703502094.652163997]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1703502094.655287643]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1

Done

mmwDemo:/>'

[ INFO] [1703502094.670171237]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'

[ INFO] [1703502094.673781914]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg 0 1 0 1

Done

mmwDemo:/>'

[ INFO] [1703502094.689086237]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'

[ INFO] [1703502094.695658632]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30

Done

mmwDemo:/>'

[ INFO] [1703502094.712377174]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1703502094.716606757]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1

Done

mmwDemo:/>'

[ INFO] [1703502094.731525716]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1703502094.735746653]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4

Done

mmwDemo:/>'

[ INFO] [1703502094.750916132]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1703502094.755136653]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2

Done

mmwDemo:/>'

[ INFO] [1703502094.770039414]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1703502094.774654309]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0

Done

mmwDemo:/>'

[ INFO] [1703502094.789823424]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'

[ INFO] [1703502094.793932070]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 1 0 0 0 0 0

Done

mmwDemo:/>'

[ INFO] [1703502094.809002903]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 3 0 768'

[ INFO] [1703502094.812952591]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 0 2 8 4 3 0 768

Done

mmwDemo:/>'

[ INFO] [1703502094.828467591]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'

[ INFO] [1703502094.832725195]: mmWaveCommSrv: Received response from sensor: 'peakGrouping 1 0 1 1 229

Done

mmwDemo:/>'

[ INFO] [1703502094.847656861]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming 1 0.5'

[ INFO] [1703502094.851998997]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming 1 0.5

Done

mmwDemo:/>'

[ INFO] [1703502094.866980195]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 0'

[ INFO] [1703502094.870562434]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 0

Done

mmwDemo:/>'

[ INFO] [1703502094.887057591]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig 0 -5 8 256'

[ INFO] [1703502094.891534882]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig 0 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1703502094.906533424]: 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] [1703502094.915392747]: 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] [1703502094.930544153]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1703502094.936211393]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2

Done

mmwDemo:/>'

[ INFO] [1703502094.951291549]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0'

[ INFO] [1703502094.955725664]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 123 0

Done

mmwDemo:/>'

[ INFO] [1703502094.971577851]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'

[ INFO] [1703502094.975521757]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 119 4

Done

mmwDemo:/>'

[ INFO] [1703502094.990946289]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1'

[ INFO] [1703502094.994595611]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 1 1

Done

mmwDemo:/>'

[ INFO] [1703502095.010907382]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'

[ INFO] [1703502095.019807330]: mmWaveCommSrv: Received response from sensor: 'sensorStart

Done

mmwDemo:/>'

[ INFO] [1703502095.075179882]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[radar_1/ti_mmwave_config-2] process has finished cleanly

log file: /home/wheeltec/.ros/log/31b535b0-a313-11ee-aeb6-00044bd532ff/radar_1-ti_mmwave_config-2*.log

但是当我关闭第一块雷达重新启动时，第一块雷达又没有点云信息了。。。。以下是第一块雷达启动时命令行的输出：

SUMMARY

========

PARAMETERS

* /radar_0/mmWaveQuickConfig/mmWaveCLI_name: /mmWaveCLI

* /radar_0/mmWave_Manager/command_port: /dev/ttyACM0

* /radar_0/mmWave_Manager/command_rate: 115200

* /radar_0/mmWave_Manager/data_port: /dev/ttyACM1

* /radar_0/mmWave_Manager/data_rate: 921600

* /radar_0/mmWave_Manager/frame_id: ti_mmwave_0

* /radar_0/mmWave_Manager/max_allowed_azimuth_angle_deg: 90

* /radar_0/mmWave_Manager/max_allowed_elevation_angle_deg: 90

* /radar_0/mmWave_Manager/mmWaveCLI_name: /mmWaveCLI

* /rosdistro: melodic

* /rosversion: 1.14.13

NODES

/radar_0/

mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig)

mmWave_Manager (ti_mmwave_rospkg/ti_mmwave_rospkg)

ROS_MASTER_URI=http://192.168.0.100:11311

process[radar_0/mmWave_Manager-1]: started with pid [32476]

process[radar_0/mmWaveQuickConfig-2]: started with pid [32477]

[ INFO] [1703503795.550128817]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703503795.555717463]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...

[ INFO] [1703503795.664764442]: Initializing nodelet with 4 worker threads.

[ INFO] [1703503795.683050327]: mmWaveCommSrv: command_port = /dev/ttyACM0

[ INFO] [1703503795.683138088]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1703503795.687434754]: waitForService: Service [/mmWaveCLI] is now available.

[ INFO] [1703503795.693809286]: mmWaveDataHdl: data_port = /dev/ttyACM1

[ INFO] [1703503795.694031525]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1703503795.694116317]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1703503795.694194129]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1703503796.202344598]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1703503796.225091994]: mmWaveCommSrv: Received response from sensor: 'sensorStop

Done

mmwDemo:/>'

[ INFO] [1703503796.241727775]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1703503796.244527879]: mmWaveCommSrv: Received response from sensor: 'flushCfg

Done

mmwDemo:/>'

[ INFO] [1703503796.258712358]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1703503796.262522619]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1

Done

mmwDemo:/>'

[ INFO] [1703503796.278388712]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1703503796.281985952]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0

Done

mmwDemo:/>'

[ INFO] [1703503796.296653921]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1703503796.299644806]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1

Done

mmwDemo:/>'

[ INFO] [1703503796.314168452]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'

[ INFO] [1703503796.317792515]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg 0 1 0 1

Done

mmwDemo:/>'

[ INFO] [1703503796.331941577]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'

[ INFO] [1703503796.338517150]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30

Done

mmwDemo:/>'

[ INFO] [1703503796.377431629]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1703503796.381667879]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1

Done

mmwDemo:/>'

[ INFO] [1703503796.395514806]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1703503796.399724233]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4

Done

mmwDemo:/>'

[ INFO] [1703503796.414405275]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1703503796.418720900]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2

Done

mmwDemo:/>'

[ INFO] [1703503796.433638192]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1703503796.438232567]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0

Done

mmwDemo:/>'

[ INFO] [1703503796.474305639]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'

[ INFO] [1703503796.478769494]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 1 0 0 0 0 0

Done

mmwDemo:/>'

[ INFO] [1703503796.493232671]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 3 0 768'

[ INFO] [1703503796.497401629]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 0 2 8 4 3 0 768

Done

mmwDemo:/>'

[ INFO] [1703503796.512271942]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'

[ INFO] [1703503796.516485900]: mmWaveCommSrv: Received response from sensor: 'peakGrouping 1 0 1 1 229

Done

mmwDemo:/>'

[ INFO] [1703503796.534038712]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming 1 0.5'

[ INFO] [1703503796.538407983]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming 1 0.5

Done

mmwDemo:/>'

[ INFO] [1703503796.553608192]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 0'

[ INFO] [1703503796.557305379]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 0

Done

mmwDemo:/>'

[ INFO] [1703503796.572891369]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig 0 -5 8 256'

[ INFO] [1703503796.577323869]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig 0 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1703503796.591783556]: 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] [1703503796.601684962]: 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] [1703503796.615491056]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1703503796.621425639]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2

Done

mmwDemo:/>'

[ INFO] [1703503796.635491212]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0'

[ INFO] [1703503796.640030483]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 123 0

Done

mmwDemo:/>'

[ INFO] [1703503796.654011733]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'

[ INFO] [1703503796.657938608]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 119 4

Done

mmwDemo:/>'

[ INFO] [1703503796.672627462]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1'

[ INFO] [1703503796.676407827]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 1 1

Done

mmwDemo:/>'

[ INFO] [1703503796.692710535]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'

[ INFO] [1703503796.701519806]: mmWaveCommSrv: Received response from sensor: 'sensorStart

Done

mmwDemo:/>'

[ INFO] [1703503796.771961994]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703503796.798822931]:

==============================

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

==============================

[radar_0/mmWaveQuickConfig-2] process has finished cleanly

log file: /home/wheeltec/.ros/log/e7579d72-a318-11ee-baf1-00044bd532ff/radar_0-mmWaveQuickConfig-2*.log

[ INFO] [1703503801.949896419]: DataUARTHandler Read Thread: Port is open

于是我又断电重开了，步骤和上面一样，但是第一块雷达始终没有点云信息，第二块雷达可以成功

以下是第一块雷达的启动信息：（失败）

SUMMARY

========

PARAMETERS

* /radar_0/mmWaveQuickConfig/mmWaveCLI_name: /mmWaveCLI

* /radar_0/mmWave_Manager/command_port: /dev/ttyACM0

* /radar_0/mmWave_Manager/command_rate: 115200

* /radar_0/mmWave_Manager/data_port: /dev/ttyACM1

* /radar_0/mmWave_Manager/data_rate: 921600

* /radar_0/mmWave_Manager/frame_id: ti_mmwave_0

* /radar_0/mmWave_Manager/max_allowed_azimuth_angle_deg: 90

* /radar_0/mmWave_Manager/max_allowed_elevation_angle_deg: 90

* /radar_0/mmWave_Manager/mmWaveCLI_name: /mmWaveCLI

* /rosdistro: melodic

* /rosversion: 1.14.13

NODES

/radar_0/

mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig)

mmWave_Manager (ti_mmwave_rospkg/ti_mmwave_rospkg)

ROS_MASTER_URI=http://192.168.0.100:11311

process[radar_0/mmWave_Manager-1]: started with pid [11154]

process[radar_0/mmWaveQuickConfig-2]: started with pid [11155]

[ INFO] [1703504419.541609032]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703504419.546922990]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...

[ INFO] [1703504419.684031375]: Initializing nodelet with 4 worker threads.

[ INFO] [1703504419.706152834]: mmWaveCommSrv: command_port = /dev/ttyACM0

[ INFO] [1703504419.707010959]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1703504419.715920750]: mmWaveDataHdl: data_port = /dev/ttyACM1

[ INFO] [1703504419.715998771]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1703504419.716046896]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1703504419.716086167]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1703504419.723411271]: waitForService: Service [/mmWaveCLI] is now available.

[ INFO] [1703504420.239193354]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1703504420.245756583]: mmWaveCommSrv: Received response from sensor: 'sensorStop

'#?`?#?' is not recognized as a CLI command

mmwDemo:/>'

[ INFO] [1703504420.256178563]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703504420.256328042]: mmWaveQuickConfig: Response: 'sensorStop

'#?`?#?' is not recognized as a CLI command

mmwDemo:/>'

[ INFO] [1703504420.262945073]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1703504420.265775490]: mmWaveCommSrv: Received response from sensor: 'flushCfg

Done

mmwDemo:/>'

[ INFO] [1703504420.281302104]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1703504420.285189344]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1

Done

mmwDemo:/>'

[ INFO] [1703504420.299797938]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1703504420.303435906]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0

Done

mmwDemo:/>'

[ INFO] [1703504420.319831375]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1703504420.322891844]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1

Done

mmwDemo:/>'

[ INFO] [1703504420.339273823]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'

[ INFO] [1703504420.343460854]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg 0 1 0 1

Done

mmwDemo:/>'

[ INFO] [1703504420.356784396]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'

[ INFO] [1703504420.363782052]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30

Done

mmwDemo:/>'

[ INFO] [1703504420.401792938]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1703504420.406051167]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1

Done

mmwDemo:/>'

[ INFO] [1703504420.420333302]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1703504420.424563719]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4

Done

mmwDemo:/>'

[ INFO] [1703504420.440227000]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1703504420.444462625]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2

Done

mmwDemo:/>'

[ INFO] [1703504420.459713510]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1703504420.464503875]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0

Done

mmwDemo:/>'

[ INFO] [1703504420.497260542]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'

[ INFO] [1703504420.501375802]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 1 0 0 0 0 0

Done

mmwDemo:/>'

[ INFO] [1703504420.515857938]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 3 0 768'

[ INFO] [1703504420.519738250]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 0 2 8 4 3 0 768

Done

mmwDemo:/>'

[ INFO] [1703504420.536326427]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'

[ INFO] [1703504420.540565750]: mmWaveCommSrv: Received response from sensor: 'peakGrouping 1 0 1 1 229

Done

mmwDemo:/>'

[ INFO] [1703504420.555862365]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming 1 0.5'

[ INFO] [1703504420.560661323]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming 1 0.5

Done

mmwDemo:/>'

[ INFO] [1703504420.574823406]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 0'

[ INFO] [1703504420.578463354]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 0

Done

mmwDemo:/>'

[ INFO] [1703504420.595047833]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig 0 -5 8 256'

[ INFO] [1703504420.599465906]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig 0 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1703504420.614425594]: 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] [1703504420.623227313]: 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] [1703504420.637055281]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1703504420.642676583]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2

Done

mmwDemo:/>'

[ INFO] [1703504420.658232365]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0'

[ INFO] [1703504420.662676167]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 123 0

Done

mmwDemo:/>'

[ INFO] [1703504420.676829760]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'

[ INFO] [1703504420.680828927]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 119 4

Done

mmwDemo:/>'

[ INFO] [1703504420.698961948]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1'

[ INFO] [1703504420.702573406]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 1 1

Done

mmwDemo:/>'

[ INFO] [1703504420.718487885]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'

[ INFO] [1703504420.791977573]: mmWaveCommSrv: Received response from sensor: 'sensorStart

Debug: Init Calibration Status = 0x7fe

Done

mmwDemo:/>'

[ INFO] [1703504420.864069812]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703504420.890036635]:

==============================

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

==============================

[radar_0/mmWaveQuickConfig-2] process has finished cleanly

log file: /home/wheeltec/.ros/log/57ad9238-a31a-11ee-991a-00044bd532ff/radar_0-mmWaveQuickConfig-2*.log

[ INFO] [1703504431.047855225]: DataUARTHandler Read Thread: Port is open

以下是第二块雷达的启动信息：(成功)

SUMMARY

========

PARAMETERS

* /radar_1/ti_mmwave/command_port: /dev/ttyACM2

* /radar_1/ti_mmwave/command_rate: 115200

* /radar_1/ti_mmwave/data_port: /dev/ttyACM3

* /radar_1/ti_mmwave/data_rate: 921600

* /radar_1/ti_mmwave/frame_id: ti_mmwave_1

* /radar_1/ti_mmwave/max_allowed_azimuth_angle_deg: 90

* /radar_1/ti_mmwave/max_allowed_elevation_angle_deg: 90

* /radar_1/ti_mmwave/mmWaveCLI_name: /mmWaveCLI

* /radar_1/ti_mmwave_config/mmWaveCLI_name: /mmWaveCLI

* /rosdistro: melodic

* /rosversion: 1.14.13

NODES

/radar_1/

ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg)

ti_mmwave_config (ti_mmwave_rospkg/mmWaveQuickConfig)

ROS_MASTER_URI=http://192.168.0.100:11311

process[radar_1/ti_mmwave-1]: started with pid [16557]

process[radar_1/ti_mmwave_config-2]: started with pid [16560]

[ INFO] [1703504599.192590630]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703504599.282380005]: Initializing nodelet with 4 worker threads.

[ INFO] [1703504599.297962817]: mmWaveCommSrv: command_port = /dev/ttyACM2

[ INFO] [1703504599.298045005]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1703504599.308246671]: mmWaveDataHdl: data_port = /dev/ttyACM3

[ INFO] [1703504599.308332974]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1703504599.308447088]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1703504599.308497036]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1703504599.341211307]:

==============================

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] [1703504599.716062453]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1703504599.716328807]: DataUARTHandler Read Thread: Port is open

[ INFO] [1703504599.722673390]: mmWaveCommSrv: Received response from sensor: 'sensorStop

'#?`?#?' is not recognized as a CLI command

mmwDemo:/>'

[ INFO] [1703504599.733067400]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')

[ INFO] [1703504599.733211567]: mmWaveQuickConfig: Response: 'sensorStop

'#?`?#?' is not recognized as a CLI command

mmwDemo:/>'

[ INFO] [1703504599.738806150]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1703504599.741656932]: mmWaveCommSrv: Received response from sensor: 'flushCfg

Done

mmwDemo:/>'

[ INFO] [1703504599.758146984]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1703504599.762067921]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1

Done

mmwDemo:/>'

[ INFO] [1703504599.777241098]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1703504599.780907921]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0

Done

mmwDemo:/>'

[ INFO] [1703504599.797861202]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1703504599.800945213]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1

Done

mmwDemo:/>'

[ INFO] [1703504599.815953546]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'

[ INFO] [1703504599.819888234]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg 0 1 0 1

Done

mmwDemo:/>'

[ INFO] [1703504599.835149327]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'

[ INFO] [1703504599.841709848]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30

Done

mmwDemo:/>'

[ INFO] [1703504599.856955682]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1703504599.861223963]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1

Done

mmwDemo:/>'

[ INFO] [1703504599.877136046]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1703504599.881374692]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4

Done

mmwDemo:/>'

[ INFO] [1703504599.897111150]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1703504599.901335525]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2

Done

mmwDemo:/>'

[ INFO] [1703504599.916899900]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1703504599.921554536]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0

Done

mmwDemo:/>'

[ INFO] [1703504599.936571359]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'

[ INFO] [1703504599.940685734]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 1 0 0 0 0 0

Done

mmwDemo:/>'

[ INFO] [1703504599.958111463]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 3 0 768'

[ INFO] [1703504599.961989952]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 0 2 8 4 3 0 768

Done

mmwDemo:/>'

[ INFO] [1703504599.977243234]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'

[ INFO] [1703504599.981876880]: mmWaveCommSrv: Received response from sensor: 'peakGrouping 1 0 1 1 229

Done

mmwDemo:/>'

[ INFO] [1703504599.996718546]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming 1 0.5'

[ INFO] [1703504600.001052348]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming 1 0.5

Done

mmwDemo:/>'

[ INFO] [1703504600.016172869]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 0'

[ INFO] [1703504600.019756150]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 0

Done

mmwDemo:/>'

[ INFO] [1703504600.034815317]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig 0 -5 8 256'

[ INFO] [1703504600.039233077]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig 0 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1703504600.054505265]: 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] [1703504600.063730265]: 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] [1703504600.079860734]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1703504600.085791307]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2

Done

mmwDemo:/>'

[ INFO] [1703504600.101589067]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0'

[ INFO] [1703504600.106306150]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 123 0

Done

mmwDemo:/>'

[ INFO] [1703504600.121631619]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'

[ INFO] [1703504600.125496098]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 119 4

Done

mmwDemo:/>'

[ INFO] [1703504600.140386775]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1'

[ INFO] [1703504600.143998702]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 1 1

Done

mmwDemo:/>'

[ INFO] [1703504600.160932140]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'

[ INFO] [1703504600.235000786]: mmWaveCommSrv: Received response from sensor: 'sensorStart

Debug: Init Calibration Status = 0x7fe

Done

mmwDemo:/>'

[ INFO] [1703504600.286075942]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[radar_1/ti_mmwave_config-2] process has finished cleanly

log file: /home/wheeltec/.ros/log/57ad9238-a31a-11ee-991a-00044bd532ff/radar_1-ti_mmwave_config-2*.log

重新启动第一块雷达还是失败的，但是当我重新启动第二块雷达又是成功的？？！！！

以下是重新启动第一块雷达的启动信息：

SUMMARY

========

PARAMETERS

* /radar_0/mmWaveQuickConfig/mmWaveCLI_name: /mmWaveCLI

* /radar_0/mmWave_Manager/command_port: /dev/ttyACM0

* /radar_0/mmWave_Manager/command_rate: 115200

* /radar_0/mmWave_Manager/data_port: /dev/ttyACM1

* /radar_0/mmWave_Manager/data_rate: 921600

* /radar_0/mmWave_Manager/frame_id: ti_mmwave_0

* /radar_0/mmWave_Manager/max_allowed_azimuth_angle_deg: 90

* /radar_0/mmWave_Manager/max_allowed_elevation_angle_deg: 90

* /radar_0/mmWave_Manager/mmWaveCLI_name: /mmWaveCLI

* /rosdistro: melodic

* /rosversion: 1.14.13

NODES

/radar_0/

mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig)

mmWave_Manager (ti_mmwave_rospkg/ti_mmwave_rospkg)

ROS_MASTER_URI=http://192.168.0.100:11311

process[radar_0/mmWave_Manager-1]: started with pid [4879]

process[radar_0/mmWaveQuickConfig-2]: started with pid [4883]

[ INFO] [1703505367.441764920]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703505367.447181899]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...

[ INFO] [1703505367.575540962]: Initializing nodelet with 4 worker threads.

[ INFO] [1703505367.596104503]: mmWaveCommSrv: command_port = /dev/ttyACM0

[ INFO] [1703505367.596192993]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1703505367.601495597]: waitForService: Service [/mmWaveCLI] is now available.

[ INFO] [1703505367.606280701]: mmWaveDataHdl: data_port = /dev/ttyACM1

[ INFO] [1703505367.606364191]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1703505367.606436691]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1703505367.606484191]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1703505368.119786118]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1703505368.129979139]: mmWaveCommSrv: Received response from sensor: 'sensorStop

Done

mmwDemo:/>'

[ INFO] [1703505368.146083566]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1703505368.149289555]: mmWaveCommSrv: Received response from sensor: 'flushCfg

Done

mmwDemo:/>'

[ INFO] [1703505368.165671534]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1703505368.170141691]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1

Done

mmwDemo:/>'

[ INFO] [1703505368.187699920]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1703505368.191383982]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0

Done

mmwDemo:/>'

[ INFO] [1703505368.207540701]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1703505368.211063670]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1

Done

mmwDemo:/>'

[ INFO] [1703505368.226128878]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'

[ INFO] [1703505368.230254295]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg 0 1 0 1

Done

mmwDemo:/>'

[ INFO] [1703505368.245112003]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'

[ INFO] [1703505368.251830284]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30

Done

mmwDemo:/>'

[ INFO] [1703505368.296950597]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1703505368.301163722]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1

Done

mmwDemo:/>'

[ INFO] [1703505368.314950857]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1703505368.319147055]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4

Done

mmwDemo:/>'

[ INFO] [1703505368.333942159]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1703505368.338190441]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2

Done

mmwDemo:/>'

[ INFO] [1703505368.353359503]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1703505368.358212316]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0

Done

mmwDemo:/>'

[ INFO] [1703505368.393170336]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'

[ INFO] [1703505368.397616795]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 1 0 0 0 0 0

Done

mmwDemo:/>'

[ INFO] [1703505368.413455649]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 3 0 768'

[ INFO] [1703505368.417312368]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 0 2 8 4 3 0 768

Done

mmwDemo:/>'

[ INFO] [1703505368.431243305]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'

[ INFO] [1703505368.435617784]: mmWaveCommSrv: Received response from sensor: 'peakGrouping 1 0 1 1 229

Done

mmwDemo:/>'

[ INFO] [1703505368.449880388]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming 1 0.5'

[ INFO] [1703505368.454277263]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming 1 0.5

Done

mmwDemo:/>'

[ INFO] [1703505368.468674451]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 0'

[ INFO] [1703505368.472279607]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 0

Done

mmwDemo:/>'

[ INFO] [1703505368.486650857]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig 0 -5 8 256'

[ INFO] [1703505368.491307472]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig 0 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1703505368.505797836]: 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] [1703505368.514599347]: 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] [1703505368.529423461]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1703505368.535077993]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2

Done

mmwDemo:/>'

[ INFO] [1703505368.550211534]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0'

[ INFO] [1703505368.554968826]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 123 0

Done

mmwDemo:/>'

[ INFO] [1703505368.569779815]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'

[ INFO] [1703505368.573951170]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 119 4

Done

mmwDemo:/>'

[ INFO] [1703505368.588157680]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1'

[ INFO] [1703505368.591789972]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 1 1

Done

mmwDemo:/>'

[ INFO] [1703505368.607909451]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'

[ INFO] [1703505368.616920493]: mmWaveCommSrv: Received response from sensor: 'sensorStart

Done

mmwDemo:/>'

[ INFO] [1703505368.694834763]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703505368.717434243]:

==============================

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

==============================

[radar_0/mmWaveQuickConfig-2] process has finished cleanly

log file: /home/wheeltec/.ros/log/910d58ea-a31c-11ee-8f64-00044bd532ff/radar_0-mmWaveQuickConfig-2*.log

[ INFO] [1703505373.901142313]: DataUARTHandler Read Thread: Port is open

以下是重新启动第二块雷达的启动信息：

SUMMARY

========

PARAMETERS

* /radar_1/ti_mmwave/command_port: /dev/ttyACM2

* /radar_1/ti_mmwave/command_rate: 115200

* /radar_1/ti_mmwave/data_port: /dev/ttyACM3

* /radar_1/ti_mmwave/data_rate: 921600

* /radar_1/ti_mmwave/frame_id: ti_mmwave_1

* /radar_1/ti_mmwave/max_allowed_azimuth_angle_deg: 90

* /radar_1/ti_mmwave/max_allowed_elevation_angle_deg: 90

* /radar_1/ti_mmwave/mmWaveCLI_name: /mmWaveCLI

* /radar_1/ti_mmwave_config/mmWaveCLI_name: /mmWaveCLI

* /rosdistro: melodic

* /rosversion: 1.14.13

NODES

/radar_1/

ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg)

ti_mmwave_config (ti_mmwave_rospkg/mmWaveQuickConfig)

ROS_MASTER_URI=http://192.168.0.100:11311

process[radar_1/ti_mmwave-1]: started with pid [8158]

process[radar_1/ti_mmwave_config-2]: started with pid [8159]

[ INFO] [1703505450.184383691]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[ INFO] [1703505450.294077701]: Initializing nodelet with 4 worker threads.

[ INFO] [1703505450.312746659]: mmWaveCommSrv: command_port = /dev/ttyACM2

[ INFO] [1703505450.313312388]: mmWaveCommSrv: command_rate = 115200

[ INFO] [1703505450.322736868]: mmWaveDataHdl: data_port = /dev/ttyACM3

[ INFO] [1703505450.323197649]: mmWaveDataHdl: data_rate = 921600

[ INFO] [1703505450.323405618]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90

[ INFO] [1703505450.323594680]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90

[ INFO] [1703505450.354330722]:

==============================

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] [1703505450.355988222]: DataUARTHandler Read Thread: Port is open

[ INFO] [1703505450.707071503]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'

[ INFO] [1703505450.731580253]: mmWaveCommSrv: Received response from sensor: 'sensorStop

Done

mmwDemo:/>'

[ INFO] [1703505450.747191711]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'

[ INFO] [1703505450.750029315]: mmWaveCommSrv: Received response from sensor: 'flushCfg

Done

mmwDemo:/>'

[ INFO] [1703505450.766275253]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'

[ INFO] [1703505450.770142857]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1

Done

mmwDemo:/>'

[ INFO] [1703505450.785505670]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'

[ INFO] [1703505450.789300565]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0

Done

mmwDemo:/>'

[ INFO] [1703505450.804671295]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'

[ INFO] [1703505450.807801867]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1

Done

mmwDemo:/>'

[ INFO] [1703505450.822830149]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg 0 1 0 1'

[ INFO] [1703505450.826509420]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg 0 1 0 1

Done

mmwDemo:/>'

[ INFO] [1703505450.841941399]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30'

[ INFO] [1703505450.848544888]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30

Done

mmwDemo:/>'

[ INFO] [1703505450.863837701]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'

[ INFO] [1703505450.868043534]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1

Done

mmwDemo:/>'

[ INFO] [1703505450.886167753]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'

[ INFO] [1703505450.890412544]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4

Done

mmwDemo:/>'

[ INFO] [1703505450.905508742]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'

[ INFO] [1703505450.909802284]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2

Done

mmwDemo:/>'

[ INFO] [1703505450.924992909]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'

[ INFO] [1703505450.929588326]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0

Done

mmwDemo:/>'

[ INFO] [1703505450.944917649]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'

[ INFO] [1703505450.949019732]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 1 0 0 0 0 0

Done

mmwDemo:/>'

[ INFO] [1703505450.964063117]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 0 2 8 4 3 0 768'

[ INFO] [1703505450.968031711]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 0 2 8 4 3 0 768

Done

mmwDemo:/>'

[ INFO] [1703505450.982879992]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping 1 0 1 1 229'

[ INFO] [1703505450.987112649]: mmWaveCommSrv: Received response from sensor: 'peakGrouping 1 0 1 1 229

Done

mmwDemo:/>'

[ INFO] [1703505451.002389107]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming 1 0.5'

[ INFO] [1703505451.006873065]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming 1 0.5

Done

mmwDemo:/>'

[ INFO] [1703505451.022134784]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 0'

[ INFO] [1703505451.025656294]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 0

Done

mmwDemo:/>'

[ INFO] [1703505451.041087180]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig 0 -5 8 256'

[ INFO] [1703505451.045484888]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig 0 -5 8 256

Done

mmwDemo:/>'

[ INFO] [1703505451.060679732]: 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] [1703505451.069548326]: 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] [1703505451.092202024]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'

[ INFO] [1703505451.097840565]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2

Done

mmwDemo:/>'

[ INFO] [1703505451.113044784]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0'

[ INFO] [1703505451.117533378]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 123 0

Done

mmwDemo:/>'

[ INFO] [1703505451.132643326]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 119 4'

[ INFO] [1703505451.136580513]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 119 4

Done

mmwDemo:/>'

[ INFO] [1703505451.151664628]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1'

[ INFO] [1703505451.155304003]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 1 1

Done

mmwDemo:/>'

[ INFO] [1703505451.171176555]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'

[ INFO] [1703505451.180191242]: mmWaveCommSrv: Received response from sensor: 'sensorStart

Done

mmwDemo:/>'

[ INFO] [1703505451.231175721]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1443_3d.cfg

[radar_1/ti_mmwave_config-2] process has finished cleanly

log file: /home/wheeltec/.ros/log/910d58ea-a31c-11ee-8f64-00044bd532ff/radar_1-ti_mmwave_config-2*.log

实在不知道问题出在哪里了，现在启动成功存在太大的偶然性，，，

期盼您的解答。

0 ?? ? 4 个月前回复 ?? ?

Prodigy 30 points

当最后一次两块雷达启动时，命令行显示的信息里面好像mmWaveQuickConfig都读取到了1443_3d.cfg文件，虽然两个文件不在同一个文件夹下，但是是完全一样的。但是事实是只有第二块雷达是成功显示点云信息的，第一块雷达没有点云信息，重新启动雷达也没有。
[ INFO] [1703505451.231175721]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/wheeltec/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1443_3d.cfg