DriveWorks SDK Reference 3.5.78 Release For Test and Development only
IMU Plugin Sample

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

# Description

The IMU Plugin sample implements a sensor driver for a CAN-based IMU using the comprehensive sensor plugin framework. This uses a DriveWorks CAN Bus sensor to provide raw data.

It also provides sources for a refcounted-BufferPool data structure that may be used as reference for other implementations.

# Running the sample

This sample compiles as a shared library (.so) that can be used with the DriveWorks Sensor Abstraction Layer (SAL).

This plugin can be used in conjunction with the IMU Logger Sample to test and verify functionality:

./sample_imu_logger --driver=imu.custom
--params=decoder-path=[path_to_decoder.so],
can-proto=[can.virtual|can.socket],
[file=<path_to_can_recording.bin>|device=<can_device>]
--timestamp-trace=[true|false]


For playing back IMU data recorded with a custom plugin, the following command line can be used:

./sample_imu_logger --driver=imu.virtual
--params=file=[path_to_recording.bin],
decoder-path=[path_to_decoder.so]

Note
The precompiled decoder library is called libsample_imu_plugin.so.