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smartmicro / smartmicro_ros2_radars

ROS2 support for smartmicro radars.
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DRVEGRD 171 no data on /smart_radar/targets_0 #50

Closed mbellafaire-pme closed 5 months ago

mbellafaire-pme commented 5 months ago

Hello,

Thank you for the work on this package. I'm currently trying to interface the DRVEGRD 171 with this ROS driver but am not able to view data on the /smart_radar/targets_0 topic. The radar is connected via ethernet through a media converter and powered by 12V. The node starts up and all services are available:

~/workspaces/radar_ws$ ros2 launch umrr_ros2_driver radar.launch.py 
[INFO] [launch]: All log files can be found below /home/mbellafaire/.ros/log/2024-05-30-08-49-34-597791-mbellafaire-Precision-7770-5475
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [smartmicro_radar_node_exe-1]: process started with pid [5478]
[smartmicro_radar_node_exe-1] [INFO] [1717073374.839288010] [smart_radar]: Updating ADAPTER params.
[smartmicro_radar_node_exe-1] [INFO] [1717073374.840248679] [smart_radar]: Updating ADAPTER params.
[smartmicro_radar_node_exe-1] [INFO] [1717073374.840464648] [smart_radar]: Updating SENSOR params.
[smartmicro_radar_node_exe-1] [INFO] [1717073374.842341874] [smart_radar]: Updating SENSOR params.
[smartmicro_radar_node_exe-1] [INFO] [1717073376.882388419] [smart_radar]: Data stream services have been received!
[smartmicro_radar_node_exe-1] [INFO] [1717073376.903827229] [smart_radar]: Radar services are ready.

My radar parameters file is:

---
/**:
  ros__parameters:
    master_data_serial_type: port_based
    master_inst_serial_type: port_based

    adapters:
      adapter_0:
        hw_dev_id: 0
        hw_iface_name: enp0s31f6
        hw_type: "eth"
        port: 55555
    sensors:
        sensor_0:
            link_type: "eth"
            model: "umrra4_v1_3_0"
            dev_id: 0
            id: 100
            ip: "192.168.11.11"
            port: 55555
            frame_id: "umrr"
            history_size: 10
            inst_type: 'port_based'
            data_type: 'port_based'

Wireshark shows packets being transmitted from the radar to my machine.

Screenshot from 2024-05-30 09-04-36

Below is the output for my network adapter obtained through ifconfig:

enp0s31f6: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.11.17  netmask 255.255.255.0  broadcast 192.168.11.255
        inet6 fe80::4c75:1312:f388:72a9  prefixlen 64  scopeid 0x20<link>
        ether cc:96:e5:7d:94:11  txqueuelen 1000  (Ethernet)
        RX packets 12456  bytes 2790067 (2.7 MB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 549  bytes 218097 (218.0 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 19  memory 0x90480000-904a0000

Attempting to to echo the /smart_Radar/targets_0 topic yields no output. Following #15 I requested the firmware from customer support and flashed the radar with version 1.3.0 using this driver.

A similar issue is present on DriveRecorder. The packets are also visible on wireshark for windows, but cannot be viewed in DriveRecorder. I can interface to the radar to DriveRecorder via CAN on windows. What could be the possible causes for this issue?

mbellafaire-pme commented 5 months ago

We were able to resolve the issue with the help of customer support. The following parameters needed to be added to the yaml file for DRVEGRD 171:

            # The interface name of the sensor
            uifname: "umrra4_automotive"
            # The major version of the interface
            uifmajorv: 1
            # The minor version of the interface
            uifminorv: 3
            # The pathc version of the interface
            uifpatchv: 0