Yes, I have tried the sample recorder tool. However the terminal outputs are throttled at 10HZ so I can’t troubleshoot by looking at the terminal output. Are there easy ways for me to inspect the recorded file?
Connection details
Xsens MTi 710: USB cable plugged in USB3-XA1
.parameters = device=/dev/ttyUSB0,frequency=100
.protocol = imu.xsens
Repro sample output:
poll took longer than expected: 49865 us (expected < 10000)
accel [0.063, -0.056, 9.802]
poll took longer than expected: 46360 us (expected < 10000)
accel [0.083, -0.060, 9.804]
poll took longer than expected: 93534 us (expected < 10000)
accel [0.065, -0.045, 9.799]
poll took longer than expected: 49972 us (expected < 10000)
accel [0.082, -0.039, 9.799]
poll took longer than expected: 49947 us (expected < 10000)
accel [0.053, -0.050, 9.805]
poll took longer than expected: 49942 us (expected < 10000)
accel [0.067, -0.048, 9.803]
poll took longer than expected: 39884 us (expected < 10000)
accel [0.066, -0.039, 9.796]
poll took longer than expected: 49984 us (expected < 10000)
accel [0.074, -0.048, 9.803]
poll took longer than expected: 49915 us (expected < 10000)
accel [0.074, -0.048, 9.803]
poll took longer than expected: 49959 us (expected < 10000)
accel [0.074, -0.039, 9.796]
poll took longer than expected: 49933 us (expected < 10000)
accel [0.066, -0.043, 9.800]
poll took longer than expected: 39940 us (expected < 10000)
accel [0.064, -0.052, 9.799]
poll took longer than expected: 49908 us (expected < 10000)
accel [0.087, -0.032, 9.793]
poll took longer than expected: 49956 us (expected < 10000)
accel [0.059, -0.046, 9.807]
^Cpoll took longer than expected: 49977 us (expected < 10000)
accel [0.062, -0.048, 9.808]
[07-10-2020 13:07:17] IndexTable: saving to file “/home/nvidia/xsens.bin.seek”
[07-10-2020 13:07:17] EndpointXsens: stopped for device /dev/ttyUSB0
[07-10-2020 13:07:17] Sensor statistics for: imu.xsens, device=/dev/ttyUSB0,frequency=100
[07-10-2020 13:07:17] Events: 0
Errors: 0
Drops: 0
minDelta: 0.0000000
maxDelta: 19924.0000000
meanDelta: 9576.407227
Standard deviation: 1711.890991
[07-10-2020 13:07:17] Releasing Driveworks SDK Context
[07-10-2020 13:07:17] SDK: Release NvMediaDevice
[07-10-2020 13:07:17] SDK: Release NvMedia2D
Sample output when commenting out lines related to serialization (L60, 61, 83)
accel [0.116, 0.057, 9.809]
accel [0.114, 0.065, 9.792]
accel [0.107, 0.072, 9.799]
accel [0.096, 0.056, 9.796]
accel [0.118, 0.053, 9.801]
accel [0.106, 0.064, 9.791]
accel [0.101, 0.066, 9.796]
accel [0.107, 0.063, 9.809]
poll took longer than expected: 10019 us (expected < 10000)
accel [0.112, 0.069, 9.803]
accel [0.115, 0.068, 9.808]
accel [0.122, 0.070, 9.819]
accel [0.125, 0.083, 9.788]
poll took longer than expected: 10018 us (expected < 10000)
accel [0.106, 0.065, 9.801]
accel [0.109, 0.069, 9.803]
accel [0.112, 0.056, 9.802]
accel [0.099, 0.046, 9.796]
accel [0.099, 0.055, 9.799]
accel [0.109, 0.057, 9.799]
accel [0.113, 0.053, 9.803]
accel [0.115, 0.059, 9.786]
poll took longer than expected: 13779 us (expected < 10000)
accel [0.121, 0.075, 9.793]
accel [0.111, 0.074, 9.794]
accel [0.110, 0.064, 9.807]
accel [0.118, 0.075, 9.801]
accel [0.115, 0.064, 9.812]
accel [0.120, 0.074, 9.795]
^Caccel [0.102, 0.067, 9.800]
[07-10-2020 13:15:30] Driveworks exception thrown: DW_INVALID_HANDLE: Cannot cast to C handle, given instance is a nullptr, type=P24dwSensorSerializerObject
[07-10-2020 13:15:30] Driveworks exception thrown: DW_INVALID_HANDLE: Cannot cast to C handle, given instance is a nullptr, type=P24dwSensorSerializerObject
[07-10-2020 13:15:30] EndpointXsens: stopped for device /dev/ttyUSB0
[07-10-2020 13:15:30] Sensor statistics for: imu.xsens, device=/dev/ttyUSB0,frequency=100
[07-10-2020 13:15:30] Events: 0
Errors: 0
Drops: 0
minDelta: 0.0000000
maxDelta: 19923.0000000
meanDelta: 9580.421875
Standard deviation: 1620.147095
[07-10-2020 13:15:30] Releasing Driveworks SDK Context
[07-10-2020 13:15:30] SDK: Release NvMediaDevice
[07-10-2020 13:15:30] SDK: Release NvMedia2D