monoDrive Simulator

IMU

The monoDrive IMU sensor reports the ego vehicle's acceleration in x, y and z axis, as well as the angular velocity in the same axis. The location and orientation of the sensor can be modified in the "x", "y" and "z" axis with respect to the origin of the ego vehicle.

Configuration

{
    "type": "IMU",
    "listen_port": 8500,
    "location": {
        "x": 0.0,
        "y": 0.0,
        "z": 0.0
    },
    "rotation": {
      "pitch": 0.0,
      "roll": 0.0,
      "yaw": 0.0
    }
}

Raw Output

The total sensor output is 51 bytes, where the first 16 bytes correspond to the monoDrive sensor header and the remaining 35 conform to the 3DM-GX2 Data Communications Protocol. The format for the protocol can be found here. Note that the simulator returns acceleration relative to the global coordinate frame and angular velocity relative to the vehicle coordinate frame. Below is a table of each element in the message:

Byte	Description
Byte 1	Start Byte
Bytes 2-5	x acceleration bits represented as a float in single precision IEEE-754 format
Bytes 6-9	y acceleration bits represented as a float in single precision IEEE-754 format
Byte 10-13	z acceleration bits represented as a float in single precision IEEE-754 format
Bytes 14-17	x angular velocity bits represented as a float in single precision IEEE-754 format
Bytes 18-21	y angular velocity bits represented as a float in single precision IEEE-754 format
Bytes 22-25	z angular velocity bits represented as a float in single precision IEEE-754 format
Bytes 26-29	Timestamp as indicated in the above link
Bytes 30-31	Checksum
Byte 32-35	Time of week