Note

SW Release Applicability: This sample is available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

The driver download area could be called by any of several different names including Downloads, Software Downloads, Driver Downloads, Drivers, Drivers and Firmware, Drivers and Software, etc. If you visit a website's home page first, look for a Support area. Any driver download options will probably be located within that area. If the device-specific driver is distributed through Windows Update, you can manually update the driver by using Device Manager. For more information about how to do this, see update drivers in Windows 10. If the device is not yet connected, first install the device-specific driver, such as by using the appropriate installer.

The IMU Logger sample works with any serial port (UART) based IMU sensor or with the Xsens IMU device connected over USB. The logger requires the IMU sensor connected over serial port to deliver messages in NMEA format, while the Xsens device can run in proprietary mode.

Interfacing with sensors

Serial

Consumer grade off-the-shelve IMU sensors are usually connected over USB and implement a serial-to-USB connection with the help of FTDI devices. The Xsens IMU device can be connected through a serial-to-USB connection.

On Linux, these sensors can then be reached over the /dev/ttyUSB or /dev/ttyACM devices. Before trying out the sample, ensure the user has access to the serial device. You can do so by trying to read from the device e.g. with cat /dev/ttyACMx, and if permission is denied, add the current user to the dialout group and then log out/in again:

On QNX, prior to accessing the device, launch the dev-serusb driver as follows:

The serial devices can the be reached over the /dev/serusb devices.

Xsens USB

The Xsens IMU device can also be connected directly over USB, but is only supported on Linux.

The sample requires the driver and name of the device of the IMU sensor.

The IMU Logger sample, sample_imu_logger, accepts the following parameters:

Where:

Note

For a full list of key/value pairs that can be passed to –params see Sensor Enumeration Sample.

Examples

NMEA format

For serial devices transmitting messages in NMEA format, use the imu.uart driver. For example:

Per default, if no baud parameter has been provided imu.uart driver assumes a baudrate of 9600. In order to change the baudrate provide baud argument as:

On QNX, the baudrate is set when starting devc-serusb. The baud parameter will be ignored.

Xsens proprietary format

The sample supports reading IMU packets from a Xsens device through the imu.xsens driver. To run the sample using Xsens over USB device use:

Download Xsens Port Devices Driver Printer

Where device=0 parameter sets the index of the Xsens device (usually 0 if only one device is installed) and frequency=100 sets the frequency in [Hz] this device should operate with.

To run the sample using Xsens over serial use:

Please note that even if the Xsens device is a shared device, like Xsens MTi-G-700, capable of delivering GPS and IMU packets, only the IMU packets will be parsed by the imu.xsens driver.

Note

If the device is connected to Xavier UART you need also specify –stop-bits=1

Download Xsens Port Devices Driver Updater

For every valid IMU message that the sample receives, it prints to the console data such as:

Download Xsens Port Devices Driver

Where the first number indicates the timestamp of the received IMU message in microseconds and the rest of the line indicates the IMU information of the sensor.

Download Xsens Port Devices Driver Win 7

For more details see IMU.