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Signed-off-by: Nilay Şener <nilay@leodrive.ai>
autowarefoundation · Sep 11, 2023 · 3c6e5d0 · 3c6e5d0
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diff --git a/docs/reference-hw/ad-computers.md b/docs/reference-hw/ad-computers.md
@@ -33,8 +33,11 @@ Neousys solutions which is used for autonomous driving and tested by one or more
 | 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 | -                     |
+| 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 | -                    |
+| 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 | -                    |
+| 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**
 
@@ -43,5 +46,8 @@ Crystal Rugged solutions which is used for autonomous driving and tested by one
 | 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/product/AVC0161-Ai-Autonomy-Solution/)
+Link to company website is [here.](https://www.crystalrugged.com/products/ai-autonomous-vehicle-technology/)
diff --git a/docs/reference-hw/cameras.md b/docs/reference-hw/cameras.md
@@ -8,6 +8,7 @@ FLIR Machine Vision cameras which has ROS 2 driver and tested by one or more com
 | ----------------------- | ------------ | ---------- | --------- | ------------- | ------ | ------------ | --------------------- |
 | Blackfly S              | 2.0 <br> 5.0 | 22 <br> 95 | USB-GigE  | 1” - ⅔”       | C & CS | Y            | -                     |
 | Grasshopper3            | 2.3 <br> 5.0 | 26 <br> 90 | USB-GigE  | 1” - ⅔”       | C & CS | Y            | -                     |
+| Flea3                   |     1.3      |     60     |    USB    |    1/1.8”     |    C   | Y            | -                     |
 
 Link to ROS 2 driver:  
 [https://github.com/berndpfrommer/flir_spinnaker_ros2](https://github.com/berndpfrommer/flir_spinnaker_ros2)
@@ -23,9 +24,11 @@ Lucid Vision cameras which has ROS 2 driver and tested by one or more community
 | ----------------------- | --- | ---- | --------- | ------------- | ------- | ------------ | --------------------- |
 | TRITON 054S             | 5.4 | 22   | GigE      | 1/1.55”       | C Mount | Y            | Y                     |
 | TRITON 032S             | 3.2 | 35.4 | GigE      | 1/1.8”        | C Mount | Y            | Y                     |
+| TRITON 050S             | 5.0 | 22   | GigE      | 2/3”          | C Mount | Y            | -                     |
 
 Link to ROS 2 driver:  
 [https://gitlab.com/leo-drive/Drivers/arena_camera](https://gitlab.com/leo-drive/Drivers/arena_camera)  
+
 Link to company website:  
 [https://thinklucid.com/triton-gige-machine-vision/](https://thinklucid.com/triton-gige-machine-vision/)
 
@@ -42,3 +45,27 @@ 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)
+
+## **TierIV Cameras**
+
+TierIV 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) |
+| ----------------------- | --- | ---- | --------- | ------------- | ------- | ------------ | --------------------- |
+| C1                      | 2.5 | 30   | GMSL2     | 1/2.57”       |  Glued  | Y            | Y                     |
+| C2                      | 5.4 | 30   | GMSL2     |       -       |  Glued  |      -       |          -            |
+
+Link to driver:  
+[https://github.com/tier4/tier4_automotive_hdr_camera](https://github.com/tier4/tier4_automotive_hdr_camera)
+
+Link to company website:  
+[https://sensor.tier4.jp/automotive-camera](https://sensor.tier4.jp/automotive-camera)
+
+## **Neousys Technology Camera** 
+
+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 <br/> (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<br/> with adhesive dispense  |      Y       |          Y            |
+
diff --git a/docs/reference-hw/imu_ahrs_gnss_ins.md b/docs/reference-hw/imu_ahrs_gnss_ins.md
@@ -76,3 +76,15 @@ Link to ROS 2 driver:
 
 Link to company website:  
 [https://www.polyexplore.com/](https://www.polyexplore.com/)
+
+## **Fix Position GNSS/INS Sensors**
+
+| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc.                 | GNSS                    | ROS 2 Driver  | Autoware Tested (Y/N) |
+| ----------------------- | ------------ | ------------------------------------- | ----------------------- | ------------- | --------------------- |
+| Vision-RTK 2            | 200Hz        | -    | 5 Hz<br>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
@@ -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.
 
@@ -34,7 +34,9 @@ The documents consists of the sections listed below:
 
   - FLIR Machine Vision Cameras
   - Lucid Vision Cameras
-  - Allied Vision Cameras
+  - Allied Vision Cameras 
+  - TierIV Cameras 
+  - Neousys Technology Cameras
 
 - Thermal CAMERAs
 
@@ -47,6 +49,7 @@ 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
   <!-- cspell: ignore Paravan -->
@@ -61,7 +64,6 @@ 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
 

diff --git a/docs/reference-hw/lidars.md b/docs/reference-hw/lidars.md
@@ -24,12 +24,14 @@ Link to company website:
 
 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)  | ROS2 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°<br/> 31°/360°<br/> 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)
@@ -46,8 +48,13 @@ Hesai Lidars which has ROS 2 driver and tested by one or more community members
 | 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                     |
+| 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)  
@@ -66,6 +73,7 @@ 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)
@@ -80,9 +88,13 @@ Livox Lidars which has ROS 2 driver and tested by one or more community members
 | 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)
@@ -96,9 +108,10 @@ Ouster Lidars which has ROS 2 driver and tested by one or more community members
 
 | 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
@@ -6,8 +6,9 @@ Smartmicro Radars which has ROS 2 driver and tested by one or more community mem
 
 | 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°)<br>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                     |
+| DRVEGRD 152 (Dual Mode Medium, Long)  | M: 0.33...66<br/> m L: 0.9…180 m<br/>                | (100°), (20°)                         | Y           | -                     |
+| DRVEGRD 169 (Ultra-Short, Short, Medium, Long) | US: 0.1…9.5 m<br/> S: 0.2…19 m<br/> M: 0.6...56 m<br/> L: 1.3...130 m | US: (140°), (28°) <br/>S/M/L: (130°), (15°) | Y           | -                     |
+| DRVEGRD 171 (Triple Mode Short, Medium Long) | S: 0.2...40 m<br/> M: 0.5...100 m<br/> 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)
@@ -33,7 +34,11 @@ Continental Engineering Radars which has ROS 2 driver and tested by one or more
 
 | Supported Products List | Range | FOV (Azimuth), (Elevation) | ROS 2 Driver | Autoware Tested (Y/N) |
 | ----------------------- | ----- | -------------------------- | ------------ | --------------------- |
-| ARS430DI                | 250m  | (120), (18°)               | -            | -                     |
+| ARS404                  | Near: 70m <br/> Far: 170m | Near: (90°), (18°) <br/> Far: (18°), (18°)    | -  | -  |
+| ARS408                  | Near: 20m <br/> Far: 250m | Near: (120°), (20°) <br/> 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/vehicle_drive_by_wire_suppliers.md b/docs/reference-hw/vehicle_drive_by_wire_suppliers.md
@@ -17,7 +17,7 @@ Dataspeed DBW Controllers which is used for autonomous driving and tested by one
 
 | Supported Vehicles                                                                                                            | Power                            | Remote Control      | ROS 2 Support | Autoware Tested (Y/N) |
 | ----------------------------------------------------------------------------------------------------------------------------- | -------------------------------- | ------------------- | ------------- | --------------------- |
-| Lincoln MKZ, Nautilus<br>Ford Fusion, F150, Transit Connect, Ranger<br>Chrysler Pacifica<br>Jeep Cherokee<br>Polaris GEM, RZR | 12 Channel PDS,15 A Each at 12 V | Optional, Available | Y             | -                     |
+| Lincoln MKZ, Nautilus<br>Ford Fusion, F150, Transit Connect, Ranger<br>Chrysler Pacifica<br>Jeep Cherokee<br>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/)
@@ -28,7 +28,7 @@ Autonomous Stuff Pacmod DBW Controllers which is used for autonomous driving and
 
 | Supported Vehicles                                                                                                                               | Power                    | Remote Control      | ROS 2 Support | Autoware Tested (Y/N) |
 | ------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------ | ------------------- | ------------- | --------------------- |
-| Polaris GEM Series<br>Polaris eLXD MY 2016+<br>Polaris Ranger X900<br>International ProStar<br>Lexus RX-450h MY<br>Ford Ranger<br>Toyota Minivan | Power distribution panel | Optional, Available | Y             | Y                     |
+| Polaris GEM Series<br>Polaris eLXD MY 2016+<br>Polaris Ranger X900<br>International ProStar<br>Lexus RX-450h MY<br>Ford Ranger<br>Toyota Minivan<br>Ford Transit<br>Honda CR-V| Power distribution panel | Optional, Available | Y             | Y                     |
 
 Link to company website:  
 [https://autonomoustuff.com/platform/pacmod](https://autonomoustuff.com/platform/pacmod)