diff --git a/docs/reference-hw/.pages b/docs/reference-hw/.pages index adb1a5ea36a..09ca91592b3 100644 --- a/docs/reference-hw/.pages +++ b/docs/reference-hw/.pages @@ -10,3 +10,4 @@ nav: - vehicle_platform_suppliers.md - remote_drive.md - full_drivers_list.md + - ad_sensor_kit_suppliers.md diff --git a/docs/reference-hw/ad-computers.md b/docs/reference-hw/ad-computers.md index af39cbd9bb9..509287bca23 100644 --- a/docs/reference-hw/ad-computers.md +++ b/docs/reference-hw/ad-computers.md @@ -2,22 +2,25 @@ ## **ADLINK In-Vehicle Computers** +![ad_comp-adlink.png](images/ad_comp-adlink.png) + ADLINK solutions which is used for autonomous driving and tested by one or more community members are listed below: -| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | -| ------------------------------- | ------------------------------ | ------------------------ | ------------------------------------------------------------ | ---------------------------------------------- | --------------------- | -| AVA-351001 | Intel® Xeon® E-2278GE | Dual RTX 5000 | 64GB RAM,CAN, USB, 10G Ethernet, DIO, Hot-Swap SSD, USIM | 9~36 VDC, MIL-STD-810H,ISO 7637-2 & SAE 113-11 | Y | -| SOAFEE’s AVA Developer Platform | Ampere Altra ARMv8 | optional | USB, Ethernet, DIO, M.2 NVMe SSDs | 110/220 AC | Y | -| RQX-58G | Carmel ARMv8.2 2.26GHz | Nvidia Jetson AGX Xavier | USB, Ethernet, M.2 NVME SSD, CAN, USIM, GMSL2 Camera support | 9~36VDC | Y | -| RQX-59G | 8-core Arm® Cortex®-A78AE v8.2 | Nvidia Jetson AGX Orin | USB, Ethernet, M.2 NVME SSD, CAN, USIM, GMSL2 Camera support | 9~36VDC | N | -| SOAFEE’s AVA AP1 | Ampere Altra ARMv8 | optional | CAN, USB, Ethernet, DIO, M.2 NVMe SSDs | 12 Volt | Y | +| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | +| ------------------------------- | --------------------- | ------------------------ | ------------------------------------------------------------ | ---------------------------------------------------------- | --------------------- | +| AVA-3510 | Intel® Xeon® E-2278GE | Dual MXM RTX 5000 | 64GB RAM,CAN, USB, 10G Ethernet, DIO, Hot-Swap SSD, USIM | 9~36 VDC, MIL-STD-810H,ISO 7637-2 | Y | +| SOAFEE’s AVA Developer Platform | Ampere Altra ARMv8 | optional | USB, Ethernet, DIO, M.2 NVMe SSDs | 110/220 AC | Y | +| RQX-58G | 8-core Arm | Nvidia Jetson AGX Xavier | USB, Ethernet, M.2 NVME SSD, CAN, USIM, GMSL2 Camera support | 9~36VDC, IEC 60068-2-64: Operating 3Grms, 5-500 Hz, 3 axes | Y | +| RQX-59G | 8-core Arm | Nvidia Jetson AGX Orin | USB, Ethernet, M.2 NVME SSD, CAN, USIM, GMSL2 Camera support | 9~36VDC, IEC 60068-2-64: Operating 3Grms, 5-500 Hz, 3 axes | - | Link to company website is [here.](https://www.adlinktech.com/en/Connected-Autonomous-Vehicle-Solutions) ## **NXP In-Vehicle Computers** +![ad_comp-nxp.png](images/ad_comp-nxp.png) + NXP solutions which is used for autonomous driving and tested by one or more community members are listed below: | Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | @@ -28,20 +31,42 @@ Link to company website is [here.](https://www.nxp.com/design/designs/bluebox-3- ## **Neousys In-Vehicle Computers** +![ad_comp-neousys.png](images/ad_comp-neousys.png) + Neousys solutions which is used for autonomous driving and tested by one or more community members are listed below: -| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | -| ----------------------- | --------------------- | --------------------------- | --------------------------------------------------- | ----------------------------------------------- | --------------------- | -| 8208-GC | Intel® Xeon® E-2278GE | Dual RTX 2080ti or RTX 3070 | 128 GB RAM,CAN, USB, Ethernet, Serial, Hot-Swap SSD | 8-35 VoltVibration:MIL-STD810G 5-500 Hz, 3 axes | - | +| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | +| ----------------------- | -------------------------- | --------------------------------- | ---------------------------------------------------------------------------------- | ------------------------------------------------------------ | --------------------- | +| 8805-GC | AMD® EPYC™ 7003 | NVIDIA® RTX A6000/ A4500 | 512GB CAN, USB, Ethernet, Serial, Easy-Swap SSD | 8-48 Volt, Vibration:MIL-STD810G, Method 514.6, Category 4 | Y | +| 10208-GC | Intel® 13th/12th-Gen Core™ | Dual 350W NVIDIA® RTX GPU | 64GB CAN, USB, Ethernet, Serial, M2 NVMe SSD | 8~48 Volt, Vibration: MIL-STD-810H, Method 514.8, Category 4 | Y | +| 9160-GC | Intel® 13th/12th-Gen Core™ | NVIDIA® RTX series up to 130W TDP | 64GB CAN, USB, Ethernet, PoE, Serial, two 2.5" SATA HDD/SSD with RAID, M2 NVMe SSD | 8~48, Vibration: Volt,MIL-STD-810G, Method 514.6, Category 4 | - | -Link to company website is [here.](http://bit.ly/neousys8208GC) +Link to company website is [here.](https://www.neousys-tech.com/en/product/product-lines/edge-ai-gpu-computing) ## **Crystal Rugged In-Vehicle Computers** +![ad_comp-crystal_rugged.png](images/ad_comp-crystal_rugged.png) + Crystal Rugged solutions which is used for autonomous driving and tested by one or more community members are listed below: -| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | -| ----------------------- | --------------------- | ------------------- | ------------------------------------------------ | ---------------------------------------------- | --------------------- | -| AVC 0161-AC | Intel® Xeon® Scalable | Dual GPU RTX Series | 2TB RAM,CAN, USB, Ethernet, Serial, Hot-Swap SSD | 10-32 VoltVibration:2 G RMS 10-1000 Hz, 3 axes | - | +| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | +| ----------------------- | ------------------------------------------------ | ----------------------- | -------------------------------------------------------- | ----------------------------------------------------------------------------- | --------------------- | +| AVC 0161-AC | Intel® Xeon® Scalable | Dual GPU RTX Series | 2TB RAM,CAN, USB, Ethernet, Serial, Hot-Swap SSD | 10-32 VoltVibration:2 G RMS 10-1000 Hz, 3 axes | - | +| AVC0403 | Intel® Xeon® Scalable or AMD EPYC™ | Optional (5 GPU) | 2TB RAM, CAN, USB, Ethernet, Serial, Hot-Swap SSD | 10-32 Volt, Vibration: 2 G RMS 10-1000 Hz, 3 axes | - | +| AVC1322 | Intel® Xeon® D-1718T or Gen 12/13 Core™ i3/i5/i7 | NVIDIA® Jetson AGX Orin | 128 GB DDR4 RAM, USB, Ethernet, Serial, SATA 2.5” SSD | 10-36 Volt, Vibration: 5.5g, 5-2,000Hz, 60 min/axis, 3 axis | - | +| AVC1753 | 10th Generation Intel® Core™ and Xeon® | Optional (1 GPU) | 128 GB DDR4 RAM, USB, Ethernet, NVMe U.2 SSD/ 3 SATA SSD | 8-36 VDC/ 120-240VAC 50/60Hz, Vibration: 5.5g, 5-2,000Hz, 60 min/axis, 3 axis | - | + +Link to company website is [here.](https://www.crystalrugged.com/products/ai-autonomous-vehicle-technology/) + +## **Vecow In-Vehicle Computers** + +![ad_comp-vecow.png](images/ad_comp-vecow.png) + +Vecow solutions which is used for autonomous driving and tested by one or more community members are listed below: + +| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | +| ----------------------- | -------------------------- | ------------------------------------- | ----------------------------------------------------------------- | ------------------------------------------------------------ | --------------------- | +| ECX-3800 PEG | Intel® 13th/12th-Gen Core™ | 200W power of NVIDIA® or AMD graphics | 64GB RAM, CAN, USB, Ethernet, PoE, Serial, M.2/SATA SSD, SIM Card | 12-50 Volt, Vibration:MIL-STD810G, Procedure I, 20°C to 45°C | - | +| IVX-1000 | Intel® 13th/12th-Gen Core™ | NVIDIA Quadro® MXM Graphics | 64GB RAM, Ethernet, PoE, Serial, M.2/SATA/mSATA SSD, SIM Card | 16-160 Volt, Vibration: IEC 61373 : 2010, 40°C to 85°C | - | -Link to company website is [here.](https://www.crystalrugged.com/product/AVC0161-Ai-Autonomy-Solution/) +Link to company website is [here.](https://www.vecow.com/dispPageBox/vecow/VecowHp.aspx?ddsPageID=VECOW_EN) diff --git a/docs/reference-hw/ad_sensor_kit_suppliers.md b/docs/reference-hw/ad_sensor_kit_suppliers.md new file mode 100644 index 00000000000..0fb20b6aa68 --- /dev/null +++ b/docs/reference-hw/ad_sensor_kit_suppliers.md @@ -0,0 +1,40 @@ +# AD Sensor Kit Suppliers + +## **LEO Drive AD Sensor Kit** + +![images/ad_kit-leodrive.png](images/ad_kit-leodrive.png) + +LEO Drive Autonomy Essentials Kit contents are listed below: + +| Supported Products List | Camera | Lidar | GNSS/INS | ROS 2 Support | Autoware Tested (Y/N) | +| ----------------------- | ----------------------- | ------------------------------------------------------------------ | ---------------- | ------------- | --------------------- | +| Autonomy Essentials Kit | 8x Lucid Vision TRI054S | 4x Velodyne Puck
1x Velodyne Alpha Prime
1x RoboSense Bpearl | 1x SBG Ellipse-D | Y | Y | + +Link to company website: +[https://leodrive.ai/](https://leodrive.ai/) + +## **TIER IV AD Kit** + +![images/ad_kit-tieriv.png](images/ad_kit-tieriv.png) + +TIER IV sensor fusion system contents are listed below: + +| Supported Products List | Camera | Lidar | ECU | ROS 2 Support | Autoware Tested (Y/N) | +| ----------------------- | -------------- | -------------------------------- | -------------------------- | ------------- | --------------------- | +| TIER IV ADK | TIER IV C1, C2 | HESAI (AT-128,XT-32)
Velodyne | ADLINK (RQX-58G, AVA-3510) | Y | Y | + +Link to company website: +[https://sensor.tier4.jp/sensor-fusion-system](https://sensor.tier4.jp/sensor-fusion-system) + +## **RoboSense AD Sensor Kit** + +![images/ad_kit-robosense.png](images/ad_kit-robosense.png) + +RoboSense L4 sensor fusion solution system contents are listed below: + +| Supported Products List | Camera | Lidar | ECU | ROS 2 Support | Autoware Tested (Y/N) | +| ----------------------- | ------ | ------------------------------------- | -------- | ------------- | --------------------- | +| P6 | - | 4x Automotive Grade Solid-state Lidar | Optional | - | - | + +Link to company website: +[https://www.robosense.ai/en/rslidar/RS-Fusion-P6](https://www.robosense.ai/en/rslidar/RS-Fusion-P6) diff --git a/docs/reference-hw/cameras.md b/docs/reference-hw/cameras.md index eddec0c5097..8b82c1f4e02 100644 --- a/docs/reference-hw/cameras.md +++ b/docs/reference-hw/cameras.md @@ -2,6 +2,8 @@ ## **TIER IV Automotive HDR Cameras** +![camera-tieriv.png](images/camera-tieriv.png) + [TIER IV's Automotive HDR cameras](https://sensor.tier4.jp/automotive-camera) which have ROS 2 driver and tested by TIER IV are listed below: | Supported Products List | MP | FPS | Interface | HDR | LFM | Trigger
/Synchronization | Ingress
Protection | ROS 2 Driver | Autoware
Tested (Y/N) | @@ -21,6 +23,8 @@ Link to product web site: ## **FLIR Machine Vision Cameras** +![camera-flir.png](images/camera-flir.png) + FLIR Machine Vision cameras which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | MP | FPS | Interface | HDR | LFM | Trigger
/Synchronization | Ingress
Protection | ROS 2 Driver | Autoware Tested (Y/N) | @@ -36,6 +40,8 @@ Link to company website: ## **Lucid Vision Cameras** +![camera-lucid_vision.png](images/camera-lucid_vision.png) + Lucid Vision cameras which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | MP | FPS | Interface | HDR | LFM | Trigger
/Synchronization | Ingress
Protection | ROS 2 Driver | Autoware Tested (Y/N) | @@ -50,6 +56,8 @@ Link to company website: ## **Allied Vision Cameras** +![camera-allied_vision.png](images/camera-allied_vision.png) + Allied Vision cameras which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | MP | FPS | Interface | HDR | LFM | Trigger
/Synchronization | Ingress
Protection | ROS 2 Driver | Autoware Tested (Y/N) | @@ -61,3 +69,19 @@ Link to ROS 2 driver: Link to company website: [https://www.alliedvision.com/en/products/camera-series/mako-g](https://www.alliedvision.com/en/products/camera-series/mako-g) + +## **Neousys Technology Camera** + +![images/camera-neousys.png](images/camera-neousys.png) + +Neousys Technology cameras which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | MP | FPS | Interface | Sensor Format | Lens | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | --- | --- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | ----------------------------------------------- | ------------ | --------------------- | +| AC-IMX390 | 2.0 | 30 | GMSL2
(over [PCIe-GL26 Grabber Card](https://www.neousys-tech.com/en/product/product-lines/in-vehicle-computing/vehicle-expansion-card/pcie-gl26-gmsl-frame-grabber-card)) | 1/2.7” | 5-axis active adjustment with adhesive dispense | Y | Y | + +Link to ROS 2 driver: +[https://github.com/ros-drivers/gscam](https://github.com/ros-drivers/gscam) + +Link to company website: +[https://www.neousys-tech.com/en/](https://www.neousys-tech.com/en/) diff --git a/docs/reference-hw/full_drivers_list.md b/docs/reference-hw/full_drivers_list.md index 46a4cb00f30..38b8ba100da 100644 --- a/docs/reference-hw/full_drivers_list.md +++ b/docs/reference-hw/full_drivers_list.md @@ -2,19 +2,22 @@ The list of all drivers listed above for easy access as a table with additional information: -| Type | Maker | Driver links | License | Maintainer | -| ------ | ----------------- | ------------------------------------------------------------------------------ | -------- | ---------------------------------------------- | -| Lidar | Velodyne
Hesai | [Link](https://github.com/tier4/nebula) | Apache 2 | david.wong@tier4.jp
abraham.monrroy@map4.jp | -| Lidar | Velodyne | [Link](https://github.com/ros-drivers/velodyne/tree/ros2/velodyne_pointcloud) | BSD | jwhitley@autonomoustuff.com | -| Lidar | Robosense | [Link](https://github.com/RoboSense-LiDAR/rslidar_sdk) | BSD | zdxiao@robosense.cn | -| Lidar | Hesai | [Link](https://github.com/HesaiTechnology/HesaiLidar_General_ROS) | Apache 2 | wuxiaozhou@hesaitech.com | -| Lidar | Leishen | [Link](https://github.com/leishen-lidar) | - | - | -| Lidar | Livox | [Link](https://github.com/Livox-SDK/livox_ros2_driver) | MIT | dev@livoxtech.com | -| Lidar | Ouster | [Link](https://github.com/ros-drivers/ros2_ouster_drivers) | Apache 2 | stevenmacenski@gmail.com
tom@boxrobotics.ai | -| Radar | smartmicro | [Link](https://github.com/smartmicro/smartmicro_ros2_radars) | Apache 2 | opensource@smartmicro.de | -| Camera | Flir | [Link](https://github.com/berndpfrommer/flir_spinnaker_ros2) | Apache 2 | bernd.pfrommer@gmail.com | -| Camera | Lucid Vision | [Link](https://gitlab.com/leo-drive/Drivers/arena_camera) | - | kcolak@leodrive.ai | -| Camera | Allied Vision | [Link](https://github.com/neil-rti/avt_vimba_camera) | Apache 2 | at@email.com | -| GNSS | NovAtel | [Link](https://github.com/swri-robotics/novatel_gps_driver/tree/dashing-devel) | BSD | preed@swri.org | -| GNSS | SBG Systems | [Link](https://github.com/SBG-Systems/sbg_ros2_driver) | MIT | support@sbg-systems.com | -| GNSS | PolyExplore | [Link](https://github.com/polyexplore/ROS2_Driver) | - | support@polyexplore.com | +| Type | Maker | Driver links | License | Maintainer | +| ------ | ----------------------- | ------------------------------------------------------------------------------ | -------- | --------------------------------------------------- | +| Lidar | Velodyne
Hesai | [Link](https://github.com/tier4/nebula) | Apache 2 | david.wong@tier4.jp
abraham.monrroy@map4.jp | +| Lidar | Velodyne | [Link](https://github.com/ros-drivers/velodyne/tree/ros2/velodyne_pointcloud) | BSD | jwhitley@autonomoustuff.com | +| Lidar | Robosense | [Link](https://github.com/RoboSense-LiDAR/rslidar_sdk) | BSD | zdxiao@robosense.cn | +| Lidar | Hesai | [Link](https://github.com/HesaiTechnology/HesaiLidar_General_ROS) | Apache 2 | wuxiaozhou@hesaitech.com | +| Lidar | Leishen | [Link](https://github.com/leishen-lidar) | - | - | +| Lidar | Livox | [Link](https://github.com/Livox-SDK/livox_ros2_driver) | MIT | dev@livoxtech.com | +| Lidar | Ouster | [Link](https://github.com/ros-drivers/ros2_ouster_drivers) | Apache 2 | stevenmacenski@gmail.com
tom@boxrobotics.ai | +| Radar | smartmicro | [Link](https://github.com/smartmicro/smartmicro_ros2_radars) | Apache 2 | opensource@smartmicro.de | +| Radar | Continental Engineering | [Link](https://github.com/tier4/ars408_driver) | Apache 2 | abraham.monrroy@tier4.jp
satoshi.tanaka@tier4.jp | +| Camera | Flir | [Link](https://github.com/berndpfrommer/flir_spinnaker_ros2) | Apache 2 | bernd.pfrommer@gmail.com | +| Camera | Lucid Vision | [Link](https://gitlab.com/leo-drive/Drivers/arena_camera) | - | kcolak@leodrive.ai | +| Camera | Allied Vision | [Link](https://github.com/neil-rti/avt_vimba_camera) | Apache 2 | at@email.com | +| Camera | Tier IV | [Link](https://github.com/tier4/tier4_automotive_hdr_camera) | GPL | - | +| Camera | Neousys Technology | [Link](https://github.com/ros-drivers/gscam) | BSD | jbo@jhu.edu | +| GNSS | NovAtel | [Link](https://github.com/swri-robotics/novatel_gps_driver/tree/dashing-devel) | BSD | preed@swri.org | +| GNSS | SBG Systems | [Link](https://github.com/SBG-Systems/sbg_ros2_driver) | MIT | support@sbg-systems.com | +| GNSS | PolyExplore | [Link](https://github.com/polyexplore/ROS2_Driver) | - | support@polyexplore.com | diff --git a/docs/reference-hw/images/ad_comp-adlink.png 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a/docs/reference-hw/images/remote-fort.png b/docs/reference-hw/images/remote-fort.png new file mode 100644 index 00000000000..cf033d2efc1 Binary files /dev/null and b/docs/reference-hw/images/remote-fort.png differ diff --git a/docs/reference-hw/images/remote-logitech.png b/docs/reference-hw/images/remote-logitech.png new file mode 100644 index 00000000000..c67b9490173 Binary files /dev/null and b/docs/reference-hw/images/remote-logitech.png differ diff --git a/docs/reference-hw/images/thermal_camera-flir.png b/docs/reference-hw/images/thermal_camera-flir.png new file mode 100644 index 00000000000..3a5b9038eff Binary files /dev/null and b/docs/reference-hw/images/thermal_camera-flir.png differ diff --git a/docs/reference-hw/imu_ahrs_gnss_ins.md b/docs/reference-hw/imu_ahrs_gnss_ins.md index 082d6e93610..af5dd26ba0a 100644 --- a/docs/reference-hw/imu_ahrs_gnss_ins.md +++ b/docs/reference-hw/imu_ahrs_gnss_ins.md @@ -2,6 +2,8 @@ ## **NovAtel GNSS/INS Sensors** +![images/gnss-novatel.png](images/gnss-novatel.png) + NovAtel GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | INS Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | @@ -17,6 +19,8 @@ Link to company website: ## **XSens GNSS/INS & IMU Sensors** +![images/gnss-novatel.png](images/gnss-xsens.png) + XSens GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | @@ -32,6 +36,8 @@ Link to company website: ## **SBG GNSS/INS & IMU Sensors** +![images/gnss-sbg.png](images/gnss-sbg.png) + SBG GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | @@ -49,6 +55,8 @@ Link to company website: +![images/gnss-applanix.png](images/gnss-applanix.png) + SBG GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | @@ -64,6 +72,8 @@ Link to company website: ## **PolyExplore GNSS/INS Sensors** +![images/gnss-polyexplore.png](images/gnss-polyexplore.png) + PolyExplore GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | @@ -76,3 +86,17 @@ Link to ROS 2 driver: Link to company website: [https://www.polyexplore.com/](https://www.polyexplore.com/) + +## **Fix Position GNSS/INS Sensors** + +![images/gnss-fixposition.png](images/gnss-fixposition.png) + +| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | +| ----------------------- | ------------ | --------------------- | --------------- | ------------- | --------------------- | +| Vision-RTK 2 | 200Hz | - | 5 Hz
L1 / L2 | Y | - | + +Link to ROS 2 driver: +[https://github.com/fixposition/fixposition_driver](https://github.com/fixposition/fixposition_driver) + +Link to company website: +[https://www.fixposition.com/](https://www.fixposition.com/) diff --git a/docs/reference-hw/index.md b/docs/reference-hw/index.md index ead8e0a6188..46eecc3e8a9 100644 --- a/docs/reference-hw/index.md +++ b/docs/reference-hw/index.md @@ -1,6 +1,6 @@ # Reference HW Design -This document is created to describe and give additional information of the sensors and systems supported by Autoware.Auto software. +This document is created to describe and give additional information of the sensors and systems supported by Autoware.Universe software. All equipment listed in this document has available ROS 2 drivers and has been tested by one or more of the community members on field in autonomous vehicle and robotics applications. @@ -35,6 +35,8 @@ The documents consists of the sections listed below: - FLIR Machine Vision Cameras - Lucid Vision Cameras - Allied Vision Cameras + - Tier IV Cameras + - Neousys Technology Cameras - Thermal CAMERAs @@ -47,11 +49,11 @@ The documents consists of the sections listed below: - SBG GNSS/INS & IMU Sensors - Applanix GNSS/INS Sensors - PolyExplore GNSS/INS Sensors + - Fix Position GNSS/INS Sensors - Vehicle Drive By Wire Suppliers - - New Eagle DBW Solutions - Dataspeed DBW Solutions - AStuff Pacmod DBW Solutions - Schaeffler-Paravan Space Drive DBW Solutions @@ -61,7 +63,6 @@ The documents consists of the sections listed below: - PIX MOVING Autonomous Vehicle Solutions - Autonomoustuff AV Solutions - NAVYA AV Solutions - - ZING ROBOTICS AV Solutions - Remote Drive @@ -69,3 +70,9 @@ The documents consists of the sections listed below: - LOGITECH - Full Drivers List + +- AD Sensor Kit Suppliers + + - LEO Drive AD Sensor Kit + - TIER IV AD Kit + - RoboSense AD Sensor Kit diff --git a/docs/reference-hw/lidars.md b/docs/reference-hw/lidars.md index 1e650bc0230..e0ef06be5f3 100644 --- a/docs/reference-hw/lidars.md +++ b/docs/reference-hw/lidars.md @@ -2,6 +2,8 @@ ## **Velodyne 3D LIDAR Sensors** +![lidar-velodyne.png](images/lidar-velodyne.png) + Velodyne Lidars which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | @@ -22,14 +24,18 @@ Link to company website: ## **RoboSense 3D LIDAR Sensors** +![images/lidar-robosense.png](images/lidar-robosense.png) + RoboSense Lidars which has ROS 2 driver and tested by one or more community members are listed below: -| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | -| ----------------------- | ----- | -------------------- | ------------ | --------------------- | -| RS-Ruby | 250m | (+15°)/(-25°), (360) | Y | - | -| RS-Ruby-Lite | 230m | (+15°)/(-25°), (360) | Y | - | -| RS-LiDAR-32 | 200m | (+15°)/(-25°), (360) | Y | - | -| RS-LiDAR-16 | 150m | (+15°)/(-15), (360) | Y | - | +| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | ------------------------------------ | ------------ | --------------------- | +| M1 | 200m | 25°/120° | - | - | +| E1 | 30m | 90°/120° | - | - | +| Bpearl | 100m | 90°/360° | Y | Y | +| Ruby Plus | 250m | 40°/360° | Y | ? | +| Helios 32 | 150m | 70°/360°
31°/360°
26°/360° | Y | Y | +| Helios 16 | 150m | 30°/360° | Y | ? | Link to ROS 2 driver: [https://github.com/RoboSense-LiDAR/rslidar_sdk](https://github.com/RoboSense-LiDAR/rslidar_sdk) @@ -39,15 +45,22 @@ Link to company website: ## **HESAI 3D LIDAR Sensors** +![images/lidar-hesai.png](images/lidar-hesai.png) + Hesai Lidars which has ROS 2 driver and tested by one or more community members are listed below: -| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | -| ----------------------- | ----- | ---------------------- | ------------ | --------------------- | -| Pandar 128 | 200m | (+15°)/(-25°), (360°) | Y | - | -| Pandar 64 | 200m | (+15°)/(-25°), (360°) | Y | Y | -| Pandar 40P | 200m | (+15°)/(-25°), (360°) | Y | Y | -| Pandar XT | 120m | (+15°)/(-16°), (360°) | Y | Y | -| Pandar QT | 20m | (-52.1°/+52.1°)/(360°) | Y | Y | +| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | ----------------------- | ------------ | --------------------- | +| Pandar 128 | 200m | (+15°)/(-25°), (360°) | Y | - | +| Pandar 64 | 200m | (+15°)/(-25°), (360°) | Y | Y | +| Pandar 40P | 200m | (+15°)/(-25°), (360°) | Y | Y | +| QT 128 | 50m | (-52.6°/+52.6°), (360°) | Y | Y | +| QT 64 | 20m | (-52.1°/+52.1°), (360°) | Y | Y | +| AT128 | 200m | (25.4°), (120°) | Y | Y | +| XT32 | 120m | (-16°/+15°), (360°) | Y | Y | +| XT16 | 120m | (-15°/+15°), (360°) | Y | - | +| FT120 | 100m | (75°), (100°) | - | - | +| ET25 | 250m | (25°), (120°) | - | - | Link to ROS 2 drivers: [https://github.com/tier4/nebula](https://github.com/tier4/nebula) @@ -58,6 +71,8 @@ Link to company website: ## **Leishen 3D LIDAR Sensors** +![images/lidar-leishen.png](images/lidar-leishen.png) + Leishen Lidars which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | @@ -66,6 +81,7 @@ Leishen Lidars which has ROS 2 driver and tested by one or more community member | LS C32  | 150m | (+15°/-15°), (360°) | Y | - | | CH 32 | 120m | (+3.7°/-6.7°),(120°) | Y | - | | CH 128 | 20m | (+14°/-17°)/(150°) | Y | - | +| C32W | 160m | (+15°/-55°), (360°) | Y | - | Link to ROS 2 driver: [https://github.com/leishen-lidar](https://github.com/leishen-lidar) @@ -75,14 +91,20 @@ Link to company website: ## **Livox 3D LIDAR Sensors** +![images/lidar-livox.png](images/lidar-livox.png) + Livox Lidars which has ROS 2 driver and tested by one or more community members are listed below: -| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | -| ----------------------- | ----- | ----------------- | ------------ | --------------------- | -| Horizon | 260m | (81.7°), (25.1°) | Y | Y | -| Mid-70 | 90m | (70.4°), (77.2°) | Y | - | -| Avia | 190m | (70.4°), Circular | Y | - | -| HAP | 150m | (25°), (120°) | - | - | +| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | ------------------ | ------------ | --------------------- | +| Horizon | 260m | (81.7°), (25.1°) | Y | Y | +| Mid-40 | 260m | (38.4°), Circular | Y | - | +| Mid-70 | 90m | (70.4°), (77.2°) | Y | - | +| Mid-100 | 260m | (38.4°), (98.4°) | Y | - | +| Mid-360 | 70m | (+52°/-7°), (360°) | Y | - | +| Avia | 190m | (70.4°), Circular | Y | - | +| HAP | 150m | (25°), (120°) | - | - | +| Tele-15 | 320m | (16.2°), (14.5°) | - | - | Link to ROS 2 driver: [https://github.com/Livox-SDK/livox_ros2_driver](https://github.com/Livox-SDK/livox_ros2_driver) @@ -92,13 +114,16 @@ Link to company website: ## **Ouster 3D LIDAR Sensors** +![images/lidar-ouster.png](images/lidar-ouster.png) + Ouster Lidars which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | | ----------------------- | ----- | --------------- | ------------ | --------------------- | -| OS0 | 50m | (90°), (360°) | Y | - | -| OS1 | 120m | (45°), (360°) | Y | - | -| OS2 | 240m | (22,5°), (360°) | Y | Y | +| OSDome | 45m | (180°), (360°) | Y | - | +| OS0 | 100m | (90°), (360°) | Y | - | +| OS1 | 200m | (45°), (360°) | Y | - | +| OS2 | 400m | (22,5°), (360°) | Y | Y | Link to ROS 2 driver: [https://github.com/ros-drivers/ros2_ouster_drivers](https://github.com/ros-drivers/ros2_ouster_drivers) diff --git a/docs/reference-hw/radars.md b/docs/reference-hw/radars.md index 4dceecde24b..6f5138d3eeb 100644 --- a/docs/reference-hw/radars.md +++ b/docs/reference-hw/radars.md @@ -2,12 +2,15 @@ ## **Smartmicro Automotive Radars** +![images/radar-smartmicro.png](images/radar-smartmicro.png) + Smartmicro Radars which has ROS 2 driver and tested by one or more community members are listed below: -| Supported Products List | Range | FOV (Azimuth), (Elevation) | ROS 2 Driver | Autoware Tested (Y/N) | -| ----------------------------------------- | --------------------------------------- | ---------------------------------------------------------------- | ------------ | --------------------- | -| Type 153 (Triple Mode Short, Medium Long) | S:0.2...19 m M:0.4...55 m L:0.8...120 m | Short: (130°), (15°) Medium: (130°), (15°)
Long: (100°),(15°) | Y | Y | -| Type 132 ,(Dual Mode ,Medium, Long) | M:0.5...64 m  L:1...175 m | Medium: (100°), (15°) Long: (32°), (15°) | Y | Y | +| Supported Products List | Range | FOV (Azimuth), (Elevation) | ROS 2 Driver | Autoware Tested (Y/N) | +| ---------------------------------------------- | --------------------------------------------------------------------- | ------------------------------------------- | ------------ | --------------------- | +| DRVEGRD 152 (Dual Mode Medium, Long) | M: 0.33...66
m L: 0.9…180 m
| (100°), (20°) | Y | - | +| DRVEGRD 169 (Ultra-Short, Short, Medium, Long) | US: 0.1…9.5 m
S: 0.2…19 m
M: 0.6...56 m
L: 1.3...130 m | US: (140°), (28°)
S/M/L: (130°), (15°) | Y | - | +| DRVEGRD 171 (Triple Mode Short, Medium Long) | S: 0.2...40 m
M: 0.5...100 m
L: 1.2...240 m | (100°), (20°) | Y | - | Link to ROS 2 driver: [https://github.com/smartmicro/smartmicro_ros2_radars](https://github.com/smartmicro/smartmicro_ros2_radars) @@ -17,6 +20,8 @@ Link to company website: ## **Aptiv Automotive Radars** +![images/radar-aptiv.png](images/radar-aptiv.png) + Aptiv Radars which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | Range | FOV (Azimuth), (Elevation) | ROS 2 Driver | Autoware Tested (Y/N) | @@ -29,11 +34,17 @@ Link to company website: ## **Continental Engineering Radars** +![images/radar-continental.png](images/radar-continental.png) + Continental Engineering Radars which has ROS 2 driver and tested by one or more community members are listed below: -| Supported Products List | Range | FOV (Azimuth), (Elevation) | ROS 2 Driver | Autoware Tested (Y/N) | -| ----------------------- | ----- | -------------------------- | ------------ | --------------------- | -| ARS430DI | 250m | (120), (18°) | - | - | +| Supported Products List | Range | FOV (Azimuth), (Elevation) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ------------------------- | ------------------------------------------- | ------------ | --------------------- | +| ARS404 | Near: 70m
Far: 170m | Near: (90°), (18°)
Far: (18°), (18°) | - | - | +| ARS408 | Near: 20m
Far: 250m | Near: (120°), (20°)
Far: (18°), (14°) | - | - | + +Link to ROS 2 driver: +[https://github.com/tier4/ars408_driver](https://github.com/tier4/ars408_driver) Link to company website: [https://conti-engineering.com/components/ars430/](https://conti-engineering.com/components/ars430/) diff --git a/docs/reference-hw/remote_drive.md b/docs/reference-hw/remote_drive.md index 376a75dedad..a4f255e26be 100644 --- a/docs/reference-hw/remote_drive.md +++ b/docs/reference-hw/remote_drive.md @@ -2,6 +2,8 @@ ## **FORT ROBOTICS** +![images/remote-fort.png](images/remote-fort.png) + Fort Robotics remote control & E-stop devices which are used for autonomous driving and tested by one or more community members are listed below: | Supported Products | Op.Frequency | Controller | ROS 2 Support | Autoware Tested (Y/N) | @@ -13,6 +15,8 @@ Link to company website: ## **LOGITECH** +![images/remote-logitech.png](images/remote-logitech.png) + Logitech joysticks which are used for autonomous driving and tested by one or more community members are listed below: | Supported Products | Op.Frequency | Controller | ROS 2 Support | Autoware Tested (Y/N) | | diff --git a/docs/reference-hw/thermal_cameras.md b/docs/reference-hw/thermal_cameras.md index 9102aee893b..8f932d380ec 100644 --- a/docs/reference-hw/thermal_cameras.md +++ b/docs/reference-hw/thermal_cameras.md @@ -2,6 +2,8 @@ ## **FLIR Thermal Automotive Dev. Kit** +![images/thermal_camera-flir.png](images/thermal_camera-flir.png) + FLIR ADK Thermal Vision cameras which has ROS 2 driver and tested by one or more community members are listed below: | Supported Products List | MP | FPS | Interface | Spectral Band | FOV | ROS 2 Driver | Autoware Tested (Y/N) | diff --git a/docs/reference-hw/vehicle_drive_by_wire_suppliers.md b/docs/reference-hw/vehicle_drive_by_wire_suppliers.md index a515b9121bb..3b4ef812fea 100644 --- a/docs/reference-hw/vehicle_drive_by_wire_suppliers.md +++ b/docs/reference-hw/vehicle_drive_by_wire_suppliers.md @@ -1,34 +1,27 @@ # Vehicle Drive By Wire Suppliers -## **New Eagle DBW Solutions** - -New Eagle DBW Controllers which is used for autonomous driving and tested by one or more community members are listed below: - -| Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | -| ------------------------------------------------------------------------------------------------------- | ------------------------------------------------- | ------------------- | ------------- | --------------------- | -| Jeep Cherokee
Chrysler Pacifica
Toyota Prius
Chevy Bolt
Ford Transit
RAM 1500
Custom  | 500W Sine Inverter
2000 Watts
8 Channel PDS | Optional, Available | Y | Y | - -Link to company website: -[https://neweagle.net/autonomous-machines/](https://neweagle.net/autonomous-machines/) - ## **Dataspeed DBW Solutions** +![images/dbw-dataspeed.png](images/dbw-dataspeed.png) + Dataspeed DBW Controllers which is used for autonomous driving and tested by one or more community members are listed below: -| Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | -| ----------------------------------------------------------------------------------------------------------------------------- | -------------------------------- | ------------------- | ------------- | --------------------- | -| Lincoln MKZ, Nautilus
Ford Fusion, F150, Transit Connect, Ranger
Chrysler Pacifica
Jeep Cherokee
Polaris GEM, RZR | 12 Channel PDS,15 A Each at 12 V | Optional, Available | Y | - | +| Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------- | ------------------- | ------------- | --------------------- | +| Lincoln MKZ, Nautilus
Ford Fusion, F150, Transit Connect, Ranger
Chrysler Pacifica
Jeep Cherokee
Polaris GEM, RZR, Lincoln Aviator, Jeep Grand Cherokee | 12 Channel PDS,15 A Each at 12 V | Optional, Available | Y | - | Link to company website: [https://www.dataspeedinc.com/](https://www.dataspeedinc.com/) ## **AStuff Pacmod DBW Solutions** +![images/dbw-astuff.png](images/dbw-astuff.png) + Autonomous Stuff Pacmod DBW Controllers which is used for autonomous driving and tested by one or more community members are listed below: -| Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | -| ------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------ | ------------------- | ------------- | --------------------- | -| Polaris GEM Series
Polaris eLXD MY 2016+
Polaris Ranger X900
International ProStar
Lexus RX-450h MY
Ford Ranger
Toyota Minivan | Power distribution panel | Optional, Available | Y | Y | +| Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------ | ------------------- | ------------- | --------------------- | +| Polaris GEM Series
Polaris eLXD MY 2016+
Polaris Ranger X900
International ProStar
Lexus RX-450h MY
Ford Ranger
Toyota Minivan
Ford Transit
Honda CR-V | Power distribution panel | Optional, Available | Y | Y | Link to company website: [https://autonomoustuff.com/platform/pacmod](https://autonomoustuff.com/platform/pacmod) @@ -37,6 +30,8 @@ Link to company website: ## **Schaeffler-Paravan Space Drive DBW Solutions** +![images/dbw-astuff.png](images/dbw-schaffler.png) + Schaeffler-Paravan Space Drive DBW Controllers which is used for autonomous driving and tested by one or more community members are listed below: | Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | diff --git a/docs/reference-hw/vehicle_platform_suppliers.md b/docs/reference-hw/vehicle_platform_suppliers.md index e7880700265..7ba062da6c1 100644 --- a/docs/reference-hw/vehicle_platform_suppliers.md +++ b/docs/reference-hw/vehicle_platform_suppliers.md @@ -2,6 +2,8 @@ ## **PIX MOVING Autonomous Vehicle Solutions** +![images/platform-pix_moving.png](images/platform-pix_moving.png) + PIX Moving AV solutions which is used for autonomous development and tested by one or more community members are listed below: | Vehicle Types | Sensors Integrated | Autoware Installed | ROS 2 Support | Autoware Tested (Y/N) | @@ -17,6 +19,8 @@ Different sizes of platforms ## **Autonomoustuff AV Solutions** +![images/platform-autonomoustuff.png](images/platform-autonomoustuff.png) + Autonomoustuff platform solutions which is used for autonomous development and tested by one or more community members are listed below: | Vehicle Types | Sensors Integrated | Autoware Installed | ROS 2 Support | Autoware Tested (Y/N) | @@ -25,25 +29,3 @@ Autonomoustuff platform solutions which is used for autonomous development and t Link to company website: [https://autonomoustuff.com/platform](https://autonomoustuff.com/platform) - -## **NAVYA AV Solutions** - -NAVYA platform solutions which is used for autonomous development and tested by one or more community members are listed below: - -| Vehicle Types | Sensors Integrated | Autoware Installed | ROS 2 Support | Autoware Tested (Y/N) | -| ---------------------------------- | ------------------ | ------------------ | ------------- | --------------------- | -| Shuttle Bus, Taxi and Tow Tractors | Y | Y | - | - | - -Link to company website: -[https://navya.tech/en](https://navya.tech/en) - -## **ZING ROBOTICS AV Solutions** - -ZING Robotics platform solutions which is used for autonomous development and tested by one or more community members are listed below: - -| Vehicle Types | Sensors Integrated | Autoware Installed | ROS 2 Support | Autoware Tested (Y/N) | -| ---------------------------------------------------------------------- | ------------------ | ------------------ | ------------- | --------------------- | -| Purpose built electric autonomous vehicles for aviation, military etc. | Y | Y | - | - | - -Link to company website: -[https://www.zingrobotics.com/](https://www.zingrobotics.com/)