Suggestion on implementing GPS plugin

[yuzhang]

I have a data file generated by a GPS/IMU combo not natively supported by Driveworks, and I want to feed the data into Driveworks (together with camera data captured) using replay. What I’m thinking is to implement a virtual sensor which will read the data file and convert the data to GpsFrame on the fly using plugin framework. Is it the the correct approach?

If this is the right approach, is it correct that file reading should happen within dwSensorPlugin_readRawData?

The documentation on dwSensorPlugin_readRawData (https://docs.nvidia.com/drive/driveworks-3.0/group__sensor__plugins__ext__common__group.html#gaa8c17c7dec69e65a34c896a29afdeaf5) lists the requirement on the memory layout of the raw bytes, but the doc is not correctly formatted. Can you provide the correctly formatted memory layout requirement? thanks

[VickNV]

Hi @yuzhang,

Please check if the samples in the topic helps.

Driveworks plugin for an IMU integrated GNSS

Please provide the following info: Hardware Platform: DRIVE AGX Xavier™ Developer Kit Software Version: DRIVE Software 10 Host Machine Version: native Ubuntu 18.04 Hello, I wish to write a custom IMU & GPS plugin for SAL to use the SBG ellipse Single Antenna RTK GNSS which is basically an IMU integrated with a GNSS reciever. It has its own SDK for communicating with the device which I thought to use writing my plugin but the problem is that from what I saw the plugin is for GPS or IMU not …

@yuzhang

Can you provide the correctly formatted memory layout requirement?

Thanks for letting us know the document issue. We will fix it. This is the correct one.

Thanks!

[yuzhang]

@VickNV My case is slightly different. I want to implement a virtual sensor backing by a data file. When I create the virtual sensor by calling dwSAL_createSensor, what value should I set protocol to? or maybe in my case, the plugin module does not need to call dwSAL_createSensor at all?

[VickNV]

Hi @yuzhang,

Sorry for missing this! Have you resolved your problem?