TI中文支持网Part Number:UNIFLASH
我的系统为ubuntu18.04，详细信息如下：
随后，我在TI官方网站中下载了uniflash_sl.7.0.0.3615.run文件和mmwave_sdk_03_05_00_04-Linux-x86-Install.bin文件：
并都增加可执行权限：
接着执行上述两个文件过程中均出现下述错误：无法执行二进制文件: 可执行文件格式错误
Shine：
请参考下面的帖子。UniFlash is not available for running on Arm based hosts. UniFlash is available for x86 machines running Windows/Linux/macOS. https://e2e.ti.com/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum/1006794/uniflash-unable-to-install-uniflash-on-jetson-nx
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xiaochen wang：
这个帖子中虽然没有解决“uniflash不能安装在Jetson NX的arm架构”的问题，但是可以使用网页版uniflash。
另外一个问题是这个mmwave sdk也不能安装，同样提示“无法执行二进制文件: 可执行文件格式错误” ，请问这应该怎么解决呢？
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Shine：
Mmwave SDK也不支持Arm based hosts。请看下面的帖子。https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/829631/iwr1642boost-controlling-the-board-using-raspberry-pi
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xiaochen wang：
您好，如果SDK都不支持的话，您有什么方法或者建议能够让我在Jetson NX(arm 架构 ubuntu18.04)环境中运行ti_mmwave_rospkg这个包，从而实现实时采集三维点云呢？
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Shine：
请参考下面的帖子里的建议。There is no plan to port the mmWave SDK to ARM Linux currently. However, the SDK is only required when building the firmware to run on the device. So, you can build and test the firmware using Windows or standard Ubuntu and then (after burning the firmware into the flash on the EVM) you can use a microcontroller or other external processor to communicate with the mmWave sensor over UART or another interface.https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/678213/linux-mmwave-sdk-installing-mmwave-sdk-on-armv7l-odroid-xu4
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xiaochen wang：
您好，我对上述帖子中的理解是：TI没有适用于ARM架构的SDK，但是可以通过在windows或者正常的Ubuntu系统上烧录bin文件，然后在arm架构中使用ti_mmwave_rospkg能够直接通过串口获取点云数据。但是，我并没有像帖子中所说的，烧录之后就可以直接在arm架构中获取点云数据。
目前，我已经完成的工作有：
1）已经烧录对应的mmWave Demo Visualizer bin文件到AWR 1843的板子上
2）成功在自己标准电脑的 18.04系统中能够正确编译ti_mmwave_rospkg包，并获取点云数据。
3）成功在jetson NX 18.04系统（ARM架构）编译ti_mmwave_rospkg包。
存在问题：
第3）中的jetson NX 18.04系统虽然能够成功编译，但是在启动对应的launch文件（roslaunch ti_mmwave_rospkg 1843_multi_3d_0.launch）时出现下述问题：
[rospack] Warning: cannot create rospack cache directory /home/nvidia/.ros: boost::filesystem::status: Function not implemented: "/home/nvidia/.ros"[rospack] Warning: error while looking at /home/nvidia/mmwave_ti_ros/ros_driver/src: boost::filesystem::status: Function not implemented: "/home/nvidia/mmwave_ti_ros/ros_driver/src"[rospack] Warning: error while looking at /home/nvidia/catkin_ws/src: boost::filesystem::status: Function not implemented: "/home/nvidia/catkin_ws/src"[rospack] Warning: error while looking at /opt/ros/melodic/share: boost::filesystem::status: Function not implemented: "/opt/ros/melodic/share"[rospack] Warning: cannot create rospack cache directory /home/nvidia/.ros: boost::filesystem::status: Function not implemented: "/home/nvidia/.ros"terminate called after throwing an instance of 'pluginlib::ClassLoaderException' what(): Unable to find package: nodelet[ INFO] [1641367147.729884183]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/nvidia/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1843_3d.cfg[ INFO] [1641367147.745713562]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting…[radar_0/ti_mmwave-2] process has died [pid 14165, exit code -6, cmd /home/nvidia/mmwave_ti_ros/ros_driver/devel/lib/ti_mmwave_rospkg/ti_mmwave_rospkg /ti_mmwave/radar_scan_pcl:=/ti_mmwave/radar_scan_pcl_0 __name:=ti_mmwave __log:=/home/nvidia/.ros/log/c3c06d42-6df7-11ec-8b97-74d83eb871e4/radar_0-ti_mmwave-2.log].log file: /home/nvidia/.ros/log/c3c06d42-6df7-11ec-8b97-74d83eb871e4/radar_0-ti_mmwave-2*.log[ERROR] [1641367158.273102195]: mmWaveQuickConfig: Failed to call service mmWaveCLI[ERROR] [1641367158.273242520]: sensorStop[radar_0/ti_mmwave_config-3] process has died [pid 14172, exit code 1, cmd /home/nvidia/mmwave_ti_ros/ros_driver/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig /home/nvidia/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1843_3d.cfg __name:=ti_mmwave_config __log:=/home/nvidia/.ros/log/c3c06d42-6df7-11ec-8b97-74d83eb871e4/radar_0-ti_mmwave_config-3.log].log file: /home/nvidia/.ros/log/c3c06d42-6df7-11ec-8b97-74d83eb871e4/radar_0-ti_mmwave_config-3*.log
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Shine：
jetson NX移植的问题，建议到英文e2e论坛咨询一下看是否能支持。https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum
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xiaochen wang：
好的，谢谢您
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Shine：
不客气~
我暂时将此贴关闭，如果后续还有问题，可以回复此贴。新问题可以重新发帖，方便其他客户参考，谢谢！
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xiaochen wang：
这个是我在英文e2e论坛交流的链接，目前还没有有效的解决方案，大家可以参考对话记录，或者有大佬知道如何解决请随时联系我，不胜感激！
e2e.ti.com/…/awr1843-can-not-run-ti_mmwave_rospkg-on-jetson-nx
