Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other
Target Operating System
Linux
QNX
other
Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other
SDK Manager Version
2.1.0
other
Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other
DRIVE OS Version: 6.0.10
Issue Description:
We are currently developing a CAN-based custom GPS plugin for a dGPS & RTK unit (Genesys ADMA Slim) to utilize it as a GPS sensor for our recordings.
We are now looking for the most efficient way to simultaneously integrate this unit as a Time sensor. The hardware supports a physical PPS output which we can connect to the Drive AGX Orin.
Our current approach is to extend our can-based plugin to include a reference type NMEA output directed to a virtual gps-serial-device. This way, as soon as the sensor is active via the plugin, it would provide the data feed for the time sensor, allowing the hardware-based PPS to sync with the NMEA signal.
Alternatively, would it be possible—or more efficient—to implement this integration via the ‘Novatel_can’ type, or perhaps develop a custom reference-type implementation for it?
Could you please explain the ask in detail. Does it has a novatel module?
For extending via CAN plugin , you can refer to DriveWorks SDK Reference: Custom CANs (Comprehensive)
Dear SivaRamaKrishnaNV,
thank you for the quick response.
We are using a GeneSys ADMA Slim rather than Novatel, as we already own the unit and have years of experience with its high level of accuracy. Thanks for the tip regarding the plugin—it was exactly that information that led us to start writing the CAN-based plugin.
The ADMA Slim feeds data into the Orin via both Ethernet and CAN. Therefore, we are interested in programming a reference type for a time sensor. Alternatively, we could integrate the ADMA Slim as a Grandmaster Clock via gPTP/PTP. If my assumption is correct, once the PTP setup is complete, the host timestamp should correspond to the dGPS time, right?
Could you please provide any update for this topic?
Hello carolyuu,
we are currently in the process of ensuring interoperability between the two systems with special test licenses of GeneSys and the gPTP client mode of the drive agx orin (see Orin Time Sync | NVIDIA Docs). However, we are unable to provide an update at this stage, as our previous inquiry remains unanswered. Thank you for your assistance.
Dear @carolyuu ,
using the gPTP protocol and the GNSS unit, we have been able to synchronise the timestamps of the Drive AGX and the custom LiDARs via Ethernet. This raises the following question, which we still need to test: Can we trigger the camera sensors or radar sensors at the same time, or does the SAL layer handle this automatically?
Dear @marius.westendorf ,
Triggering camera, radar at a time is not possible.
If timestamps are synced to PTP, you can filter out camera frames and radar frames in the same time frame to match to them.
Could you please provide any update for this topic?