我在jetson nano上启动雷达时，无法在rviz中查看到点云，但有时重启十几次能看到一次，代码运行信息如下：
jetson@unbutu:~/Desktop/ti_ros/mmwave_ti_ros/ros1_driver$ roslaunch ti_mmwave_rospkg 1843_multi_3d_0.launch
... logging to /home/jetson/.ros/log/ea284b78-e68e-11ee-bfbf-141333a62d07/roslaunch-unbutu-2893.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://unbutu:41279/
SUMMARY
========
PARAMETERS
* /radar_0/ti_mmwave/command_port: /dev/ttyACM0
* /radar_0/ti_mmwave/command_rate: 115200
* /radar_0/ti_mmwave/data_port: /dev/ttyACM1
* /radar_0/ti_mmwave/data_rate: 921600
* /radar_0/ti_mmwave/frame_id: ti_mmwave_0
* /radar_0/ti_mmwave/max_allowed_azimuth_angle_deg: 90
* /radar_0/ti_mmwave/max_allowed_elevation_angle_deg: 90
* /radar_0/ti_mmwave/mmWaveCLI_name: /mmWaveCLI
* /radar_0/ti_mmwave_config/mmWaveCLI_name: /mmWaveCLI
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/
radar_baselink_0 (tf/static_transform_publisher)
rviz (rviz/rviz)
/radar_0/
ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg)
ti_mmwave_config (ti_mmwave_rospkg/mmWaveQuickConfig)
auto-starting new master
process[master]: started with pid [2906]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to ea284b78-e68e-11ee-bfbf-141333a62d07
process[rosout-1]: started with pid [2921]
started core service [/rosout]
process[radar_0/ti_mmwave-2]: started with pid [2924]
process[radar_0/ti_mmwave_config-3]: started with pid [2925]
process[radar_baselink_0-4]: started with pid [2930]
process[rviz-5]: started with pid [2931]
[ INFO] [1710921199.366540309]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/jetson/Desktop/ti_ros/mmwave_ti_ros/ros1_driver/src/ti_mmwave_rospkg/cfg/1843_3d.cfg
[ INFO] [1710921199.369909461]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
[ INFO] [1710921199.390634837]: Initializing nodelet with 6 worker threads.
[ INFO] [1710921199.398192213]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1710921199.398269493]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1710921199.401232213]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1710921199.401274037]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1710921199.401297781]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1710921199.401322517]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1710921199.413621909]: waitForService: Service [/mmWaveCLI] is now available.
[ INFO] [1710921199.932835541]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1710921200.933139285]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921200.936958773]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921200.937029653]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921200.941026805]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1710921201.941230389]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921201.944768149]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921201.944839061]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921201.948780245]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1710921202.948965269]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921202.951735861]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921202.951799189]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921202.955524885]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'
[ INFO] [1710921203.955729589]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921203.958840277]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921203.958913781]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921203.962542613]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[ INFO] [1710921204.962356949]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921204.965860725]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921204.965933333]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921204.969772245]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'
[ INFO] [1710921205.969957845]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921205.972774325]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921205.972842005]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921205.976769653]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30'
[ INFO] [1710921206.976957013]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921206.979773237]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921206.979848437]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921206.983643797]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1710921207.983832437]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921207.986757909]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921207.986831925]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921207.990401141]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'
[ INFO] [1710921208.990377717]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921208.993752213]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921208.993824181]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921208.997517429]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'
[ INFO] [1710921209.997603509]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921210.000712629]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921210.000798293]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921210.004404277]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 100 1 0'
[ INFO] [1710921211.004617173]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921211.007877973]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921211.007955573]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921211.011897781]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'
[ INFO] [1710921212.012084450]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921212.015854034]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921212.015930052]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921212.019564369]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 1 0 0 0 1'
[ INFO] [1710921213.019760005]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921213.022693719]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921213.022774023]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921213.026613266]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 2 8 4 3 0 12 0'
[ INFO] [1710921214.026355254]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921214.029530935]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921214.029632225]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921214.033280189]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 1 12 0'
[ INFO] [1710921215.033450198]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921215.037223576]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921215.037293734]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921215.040992242]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.5'
[ INFO] [1710921216.041208949]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921216.044794029]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921216.044869501]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921216.048811300]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 1'
[ INFO] [1710921217.048988030]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921217.052290082]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921217.052371571]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921217.056233056]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'
[ INFO] [1710921218.056464023]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921218.059690106]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921218.059759669]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921218.063193222]: mmWaveCommSrv: Sending command to sensor: 'extendedMaxVelocity -1 0'
[ INFO] [1710921219.063384466]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921219.067051658]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921219.067128039]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921219.071130904]: mmWaveCommSrv: Sending command to sensor: 'lvdsStreamCfg -1 0 0 0'
[ INFO] [1710921220.070356879]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921220.073297521]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921220.073376170]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921220.077606767]: 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] [1710921221.077814052]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921221.081488263]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921221.081563960]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921221.085495982]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'
[ INFO] [1710921222.085697283]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921222.088406181]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921222.088475755]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921222.092461937]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 121 0'
[ INFO] [1710921223.092669849]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921223.095415284]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921223.095491580]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921223.099336002]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 127 4'
[ INFO] [1710921224.099481987]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921224.102499724]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921224.102573037]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921224.106138491]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 0 0'
[ INFO] [1710921225.106333160]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921225.109314093]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921225.109397586]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921225.113022892]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -1 -90 90 -90 90'
[ INFO] [1710921226.113207313]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921226.116051666]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921226.116116164]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921226.119972726]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 0 0 8.92'
[ INFO] [1710921227.120164899]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921227.123984800]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921227.124061655]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921227.127875408]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 1 -1 1.00'
[ INFO] [1710921228.128054426]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921228.131593097]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921228.131670206]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921228.135356434]: mmWaveCommSrv: Sending command to sensor: 'calibData 0 0 0'
[ INFO] [1710921229.135544656]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921229.138434024]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921229.138507447]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921229.142668638]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
[ INFO] [1710921230.142368382]: mmWaveCommSrv: Received response from sensor: ''
[ INFO] [1710921230.145878936]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1710921230.145943038]: mmWaveQuickConfig: Response: ''
[ INFO] [1710921230.166308695]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/jetson/Desktop/ti_ros/mmwave_ti_ros/ros1_driver/src/ti_mmwave_rospkg/cfg/1843_3d.cfg
[ INFO] [1710921230.172780706]:
==============================
List of parameters
==============================
Number of range samples: -439589760
Number of chirps: 43690
f_s: -inf MHz
f_c: -4850433973.283 GHz
Bandwidth: -0.000 MHz
PRI: 0.000 us
Frame time: -748301213237248000.000 ms
Max range: nan m
Range resolution: -inf m
Max Doppler: +-inf m/s
Doppler resolution: inf m/s
==============================
[ INFO] [1710921230.175924096]: DataUARTHandler Read Thread: Port is open
[radar_0/ti_mmwave_config-3] process has finished cleanly
log file: /home/jetson/.ros/log/ea284b78-e68e-11ee-bfbf-141333a62d07/radar_0-ti_mmwave_config-3*.log
在windows的笔记本电脑上通过mmWave demo visualizer是可以查看到采集到数据的
