Description

The Simple Sensor Recording Sample allows you to record data from CAN, GPS, RADAR or LIDAR sensors.

Running the Sample

The syntax for calling the simple sensor recording sample is:

./sample_record --can-driver=[can.socket|can.aurix]
                --can-params=[comma/separated/key/value/pairs]
                --gps-driver=[gps.uart|gps.xsens|gps.novatel|gps.dataspeed]
                --gps-params=[comma/separated/key/value/pairs]
                --lidar-driver=[lidar.socket]
                --lidar-params=[comma/separated/key/value/pairs]
                --radar-driver=[radar.socket]
                --radar-params=[comma/separated/key/value/pairs]
                --write-file-gps=[path/to/gps/file]
                --write-file-can=[path/to/canbus/file]
                --write-file-lidar=[path/to/lidar/file]
                --write-file-radar=[path/to/radar/file]

where:

--can-driver=[can.socket|can.aurix]
    Specifies which CAN interface to use.
    Default value: can.socket

--can-params=[comma/separated/key/value/pairs]
    Different parameters are available for each CAN driver.
    Default value: none

--gps-driver=[gps.uart|gps.xsens|gps.novatel|gps.dataspeed]
    Specifies which GPS driver to use.
    Default value: gps.uart

--gps-params=[comma/separated/key/value/pairs]
    Different parameters are available for each GPS driver.
    Default value: none

--lidar-driver=[lidar.socket]
    Specifies which Lidar driver to use.
    Default value: lidar.socket

--lidar-params=[comma/separated/key/value/pairs]
    Different parameters are available for each Lidar driver.
    Default value: none

--radar-driver=[radar.socket]
    Specifies which Radar driver to use.
    Default value: radar.socket

--radar-params=[comma/separated/key/value/pairs]
    Different parameters are available for each Radar driver.
    Default value: none

--write-file-gps=[path/to/gps/file]
    Path where the recorded GPS data is going to be stored.
    Default value: none

--write-file-can=[path/to/canbus/file]
    Path where the recorded CANBUS data is going to be stored.
    Default value: none

--write-file-lidar=[path/to/lidar/file]
    Path where the recorded Lidar data is going to be stored.
    Default value: none

--write-file-radar=[path/to/radar/file]
    Path where the recorded Radar data is going to be stored.
    Default value: none

Note: For a full list of key/value pairs that can be passed to –[sensor]-params see Sensor Enumeration Sample.

Examples

Recording CAN

Set --can-driver to can.socket.
Set --can-params to device=can0 where can0 is the can device to live record.
Set --write-file-can=filename.bin to the recorded output file, where filename.bin is the output file for CAN data.

Thus, to record data from a can sensor, the following command would be used:

./sample_record --can-driver=can.socket --can-params=device=can0 --write-file-can=/path/to/outputfile.bin

Recording GPS

GPS takes command-line options that are similar to the CAN options.

For example, the command line for recording GPS data from a UART GPS sensor is:

./sample_record --gps-driver=gps.uart --gps-params=device=/dev/ttyACM0 --write-file-gps=/path/to/outputfile.bin

Recording LIDAR

Set --lidar-protocol to lidar.socket
Set --lidar-params to appropriate values depending on your device. Supported devices are listed in Lidar Replay Sample

For example, the command line for recording lidar data:

./sample_record --lidar-protocol=lidar.socket --lidar-params=device=[device],ip=[lidar IP address],dip=[IP address of UDP packet receiver],port=[lidar port],hres=[valid horizontal resolution],scan-frequency=[valid frequency] --write-file-lidar=/path/to/lidaroutput.bin

dip (Destination IP Address) is applicable only for device OUSTER_OS1
hres (Horizontal Resolution) is applicable only for device OUSTER_OS1

Recording RADAR

Set --radar-protocol to radar.socket
Set --radar-params to appropriate values depending on your device. Supported devices are listed in Radar Replay Sample

For example, the command line for recording GPS data from a UART GPS sensor is:

./sample_record --radar-protocol=radar.socket --radar-params=device=[device],ip=[radar IP address],port=[radar port],scan-frequency=[valid frequency] --write-file-radar=/path/to/radaroutput.bin

Note: If the radar being used is the Continental ARS430 ethernet radar, see to the prerequisite section in Radar Replay Sample .

Recording Mixed Sensor Types

Different types of sensors can be combined. For example, the command for recording live GPS and LIDAR data is:

./sample_record --gps-driver=gps.uart --gps-params=device=/dev/ttyACM0 --write-file-gps=/path/to/gpsoutput.bin --lidar-protocol=lidar.socket \
--lidar-params=device=[device],ip=[lidar IP address],port=[lidar port],scan-frequency=[valid frequency] --write-file-lidar=/path/to/lidaroutput.bin

Note: - This sample creates output files that, per default, are put into the current working directory. Hence, write permissions to the current working directory are necessary if the output file arguments are not changed.; - Recording virtual sensors is not supported.

Additional Information

For more details see Sensors.

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