diff --git a/docs/reference-hw/ad-computers.md b/docs/reference-hw/ad-computers.md index af39cbd9bb9..852785d907b 100644 --- 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 index 3f5faaf1d1c..1cdd2d1758c 100644 --- 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
5.0 | 22
95 | USB-GigE | 1” - ⅔” | C & CS | Y | - | | Grasshopper3 | 2.3
5.0 | 26
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
(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 | + diff --git a/docs/reference-hw/imu_ahrs_gnss_ins.md b/docs/reference-hw/imu_ahrs_gnss_ins.md index 082d6e93610..7dea8d2e617 100644 --- 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
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..109ba4885f7 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. @@ -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 @@ -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 index 1e650bc0230..4f1620f17ec 100644 --- 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°
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) @@ -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 index 4dceecde24b..c6cad6224cc 100644 --- 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°)
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
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) @@ -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
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/vehicle_drive_by_wire_suppliers.md b/docs/reference-hw/vehicle_drive_by_wire_suppliers.md index a515b9121bb..b5b36207aca 100644 --- 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
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 | - | +| 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/) @@ -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
Polaris eLXD MY 2016+
Polaris Ranger X900
International ProStar
Lexus RX-450h MY
Ford Ranger
Toyota Minivan | Power distribution panel | Optional, Available | Y | Y | +| 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) diff --git a/docs/reference-hw/vehicle_platform_suppliers.md b/docs/reference-hw/vehicle_platform_suppliers.md index e7880700265..ba3f701dc8c 100644 --- a/docs/reference-hw/vehicle_platform_suppliers.md +++ b/docs/reference-hw/vehicle_platform_suppliers.md @@ -26,24 +26,4 @@ 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/)