I am running code from this git which is designed to communicate with a radar and evaluation board from Texas Instruments using ROS1 noetic.
I am running the repository on a windows device inside a Docker container which is from the ROS:noetic image.
When I launch the ros node from the link, I get the following error:
root@docker-desktop:~/catkin_ws# roslaunch mmWave radar_rd_fft_viz.launch
WARNING: Package name "mmWave" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
... logging to /root/.ros/log/6dc0f760-4297-11ee-96bb-1e0fc3d54455/roslaunch-docker-desktop-2394.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://docker-desktop:36545/
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.16.0
NODES
/
xwr1xxx (mmWave/no_Qt.py)
xwr1xxx_rd_viz (mmWave/fft_viz.py)
ROS_MASTER_URI=http://localhost:11311
WARNING: Package name "mmWave" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[xwr1xxx-1]: started with pid [2415]
process[xwr1xxx_rd_viz-2]: started with pid [2416]
Traceback (most recent call last):
File "/root/catkin_ws/src/mmWave/scripts/no_Qt.py", line 74, in <module>
mmwave_sensor = mmWave_Sensor(iwr_cmd_tty=args.cmd_tty)
File "/root/catkin_ws/src/mmWave/scripts/mmWave_class_noQt.py", line 60, in __init__
self.data_socket.bind(("192.168.33.30", 4098))
OSError: [Errno 99] Cannot assign requested address
================================================================================REQUIRED process [xwr1xxx-1] has died!
process has died [pid 2415, exit code 1, cmd /root/catkin_ws/src/mmWave/scripts/no_Qt.py --cmd_tty /dev/tty/ACM0 14xx/indoor_human_rcs __name:=xwr1xxx __log:=/root/.ros/log/6dc0f760-4297-11ee-96bb-1e0fc3d54455/xwr1xxx-1.log].
log file: /root/.ros/log/6dc0f760-4297-11ee-96bb-1e0fc3d54455/xwr1xxx-1*.log
Initiating shutdown!
================================================================================
[xwr1xxx_rd_viz-2] killing on exit
[xwr1xxx-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
As per instructions from the code I have made my PC ip address static and the one it is trying to bind too. The radar is connected by ethernet to the laptop and has a fixed IP address. I have tried pinging this IP address but it doesnt work, should this work?
The code that is causing the error can be seen below:
#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String
import os
import time
import sys
import socket
import serial
import pdb
import struct
import numpy as np
# import RadarRT_lib
from circular_buffer import ring_buffer
try:
import queue
except ImportError:
import Queue as queue
from ctypes import *
from radar_config import dict_to_list
class mmWave_Sensor():
iwr_rec_cmd = ['sensorStop', 'sensorStart']
# dca1000evm configuration commands; only the ones used are filled in
# TODO: hardcoded comand values should be changed
dca_cmd = { \
'RESET_FPGA_CMD_CODE' : b"", \
'RESET_AR_DEV_CMD_CODE' : b"", \
'CONFIG_FPGA_GEN_CMD_CODE' : b"\x5a\xa5\x03\x00\x06\x00\x01\x01\x01\x02\x03\x1e\xaa\xee", \
'CONFIG_EEPROM_CMD_CODE' : b"", \
'RECORD_START_CMD_CODE' : b"\x5a\xa5\x05\x00\x00\x00\xaa\xee", \
'RECORD_STOP_CMD_CODE' : b"\x5a\xa5\x06\x00\x00\x00\xaa\xee", \
'PLAYBACK_START_CMD_CODE' : b"", \
'PLAYBACK_STOP_CMD_CODE' : b"", \
'SYSTEM_CONNECT_CMD_CODE' : b"\x5a\xa5\x09\x00\x00\x00\xaa\xee", \
'SYSTEM_ERROR_CMD_CODE' : b"\x5a\xa5\x0a\x00\x01\x00\xaa\xee", \
'CONFIG_PACKET_DATA_CMD_CODE' : b"\x5a\xa5\x0b\x00\x06\x00\xc0\x05\xc4\x09\x00\x00\xaa\xee", \
'CONFIG_DATA_MODE_AR_DEV_CMD_CODE' : b"", \
'INIT_FPGA_PLAYBACK_CMD_CODE' : b"", \
'READ_FPGA_VERSION_CMD_CODE' : b"\x5a\xa5\x0e\x00\x00\x00\xaa\xee", \
}
dca_cmd_addr = ('192.168.33.180', 4096)
dca_socket = None
data_socket = None
iwr_serial = None
dca_socket_open = False
data_socket_open = False
serial_open = False
capture_started = 0
data_file = None
def __init__(self, iwr_cmd_tty='/dev/ttyACM0', iwr_data_tty='/dev/ttyACM1'):
self.data_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.data_socket.bind(("192.168.33.30", 4098))
self.data_socket.settimeout(25e-5)
#self.data_socket.setblocking(True)
self.data_socket_open = True
self.seqn = 0 # this is the last packet index
self.bytec = 0 # this is a byte counter
self.q = Queue.Queue()
frame_len = 2*rospy.get_param('iwr_cfg/profiles')[0]['adcSamples']*rospy.get_param('iwr_cfg/numLanes')*rospy.get_param('iwr_cfg/numChirps')
self.data_array = ring_buffer(int(2*frame_len), int(frame_len))
self.iwr_cmd_tty=iwr_cmd_tty
self.iwr_data_tty=iwr_data_tty
Any help would be greatly appreciated!
Thankyou in advance
EDIT: added network config info:
From Windows device:
Windows IP Configuration
Ethernet adapter vEthernet (Default Switch):
Connection-specific DNS Suffix . :
Link-local IPv6 Address . . . . . : fe80::9405:9c7c:b786:3535%41
IPv4 Address. . . . . . . . . . . : 172.19.32.1
Subnet Mask . . . . . . . . . . . : 255.255.240.0
Default Gateway . . . . . . . . . :
Ethernet adapter Ethernet 4:
Connection-specific DNS Suffix . :
Link-local IPv6 Address . . . . . : fe80::5e5d:c3bb:233c:6616%2
IPv4 Address. . . . . . . . . . . : 192.168.33.30
Subnet Mask . . . . . . . . . . . : 255.255.255.0
Default Gateway . . . . . . . . . :
Wireless LAN adapter Local Area Connection* 9:
Media State . . . . . . . . . . . : Media disconnected
Connection-specific DNS Suffix . :
Wireless LAN adapter Local Area Connection* 10:
Media State . . . . . . . . . . . : Media disconnected
Connection-specific DNS Suffix . :
Wireless LAN adapter WiFi:
Connection-specific DNS Suffix . :
Link-local IPv6 Address . . . . . : fe80::b46c:2cb5:f160:cc85%20
IPv4 Address. . . . . . . . . . . : 192.168.0.35
Subnet Mask . . . . . . . . . . . : 255.255.255.0
Default Gateway . . . . . . . . . : 192.168.0.1
Ethernet adapter Bluetooth Network Connection:
Media State . . . . . . . . . . . : Media disconnected
Connection-specific DNS Suffix . :
Ethernet adapter vEthernet (WSL):
Connection-specific DNS Suffix . :
Link-local IPv6 Address . . . . . : fe80::a408:7104:f925:9cbd%57
IPv4 Address. . . . . . . . . . . : 172.28.48.1
Subnet Mask . . . . . . . . . . . : 255.255.240.0
Default Gateway . . . . . . . . . :
From docker container:
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
inet 127.0.0.1/8 scope host lo
valid_lft forever preferred_lft forever
inet6 ::1/128 scope host
valid_lft forever preferred_lft forever
2: tunl0@NONE: <NOARP> mtu 1480 qdisc noop state DOWN group default qlen 1000
link/ipip 0.0.0.0 brd 0.0.0.0
3: sit0@NONE: <NOARP> mtu 1480 qdisc noop state DOWN group default qlen 1000
link/sit 0.0.0.0 brd 0.0.0.0
4: docker0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc noqueue state DOWN group default
link/ether 02:42:e6:46:35:37 brd ff:ff:ff:ff:ff:ff
inet 172.17.0.1/16 brd 172.17.255.255 scope global docker0
valid_lft forever preferred_lft forever
7: eth0@if6: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default
link/ether 1e:0f:c3:d5:44:55 brd ff:ff:ff:ff:ff:ff link-netnsid 0
inet 192.168.65.4 peer 192.168.65.5/32 scope global eth0
valid_lft forever preferred_lft forever
inet6 fe80::1c0f:c3ff:fed5:4455/64 scope link
valid_lft forever preferred_lft forever
