diff --git a/.cspell/clearpath-dictionary.txt b/.cspell/clearpath-dictionary.txt index 8cb9a8185..cfd3d5340 100644 --- a/.cspell/clearpath-dictionary.txt +++ b/.cspell/clearpath-dictionary.txt @@ -29,6 +29,7 @@ Futaba Greenlee Gurum Henryuan +Hesai Hokuyo Icotek Inventus diff --git a/components/supported_sensors.mdx b/components/supported_sensors.mdx index 88aa0ef02..d5f4a1a93 100644 --- a/components/supported_sensors.mdx +++ b/components/supported_sensors.mdx @@ -1,5 +1,5 @@ -import Tabs from '@theme/Tabs'; -import TabItem from '@theme/TabItem'; +import Tabs from "@theme/Tabs"; +import TabItem from "@theme/TabItem"; ## Supported Sensors {#supported-sensors} @@ -22,148 +22,149 @@ Debian drivers are automatically installed on robots as part of the ### 2D Lidars -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- | -| [SICK LMS-111/LMS-151](/docs_robots/accessories/sensors/lidar_2d/sick_lms111) | Debian | Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) | -| [Hokuyo UST10-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | -| [Hokuyo UST20-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | -| [Hokuyo UST30-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| Sensor | `amd64` | `arm64` | Source | +| :---------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------- | +| [SICK LMS-111/LMS-151](/docs_robots/accessories/sensors/lidar_2d/sick_lms111) | Debian | Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) | +| [Hokuyo UST10-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| [Hokuyo UST20-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| [Hokuyo UST30-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | ### 3D Lidars -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:--------------------------------------------------------- | -| [Velodyne Puck](/docs_robots/accessories/sensors/lidar_3d/velodyne_puck) | Debian | Debian | [Velodyne](https://github.com/ros-drivers/velodyne) | -| [Ouster OS-1](/docs_robots/accessories/sensors/lidar_3d/ouster) | Debian | Debian | [Ouster](https://github.com/ouster-lidar/ouster-ros) | +| Sensor | `amd64` | `arm64` | Source | +| :----------------------------------------------------------------------------------------- | :------ | :------ | :-------------------------------------------------------- | +| [Velodyne Puck](/docs_robots/accessories/sensors/lidar_3d/velodyne_puck) | Debian | Debian | [Velodyne](https://github.com/ros-drivers/velodyne) | +| [Ouster OS-1](/docs_robots/accessories/sensors/lidar_3d/ouster) | Debian | Debian | [Ouster](https://github.com/ouster-lidar/ouster-ros) | | [Seyond Robin W (Mesh only support)](/docs/ros/config/yaml/sensors/lidar3d#seyond-robin-w) | Source | Source | [Seyond](https://github.com/Seyond-Inc/seyond_ros_driver) | ### IMUs -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:------------|:------------|:------------------------------------------------------------------------- | -| [MicroStrain 3DM-GX5](/docs_robots/accessories/sensors/imu/microstrain_3dm_gx5) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| MicroStrain GV7-AHRS | Unsupported | Unsupported | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7) | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | -| CH Robotics UM6 | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | -| Phidgets IMU | Unsupported | Unsupported | [Phidgets](https://github.com/ros-drivers/phidgets_drivers) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------------------------------ | :---------- | :---------- | :------------------------------------------------------------------------ | +| [MicroStrain 3DM-GX5](/docs_robots/accessories/sensors/imu/microstrain_3dm_gx5) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| MicroStrain GV7-AHRS | Unsupported | Unsupported | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7) | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | +| CH Robotics UM6 | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | +| Phidgets IMU | Unsupported | Unsupported | [Phidgets](https://github.com/ros-drivers/phidgets_drivers) | ### GPS -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------- | -| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [Garmin GPS 18x](/docs_robots/accessories/sensors/gps/garmin_gps_18x) | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | -| [Swift Navigation Duro](/docs_robots/accessories/sensors/gps/swift_navigation_duro) | Source | Source | [Duro GPS Driver](https://github.com/szenergy/duro_gps_driver) | -| NovAtel SMART6 and SMART7 | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :---------------------------------------------------------------------------------- | :------ | :------ | :------------------------------------------------------------------------ | +| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [Garmin GPS 18x](/docs_robots/accessories/sensors/gps/garmin_gps_18x) | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | +| [Swift Navigation Duro](/docs_robots/accessories/sensors/gps/swift_navigation_duro) | Source | Source | [Duro GPS Driver](https://github.com/szenergy/duro_gps_driver) | +| NovAtel SMART6 and SMART7 | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | ### Inertial Navigation Sensors -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------------------------- | -| [Fixposition Vision-RTK 2](/docs_robots/accessories/sensors/ins/fixposition) | Source | Source | [Fixposition Driver](https://github.com/fixposition/fixposition_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :--------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------------------------- | +| [Fixposition Vision-RTK 2](/docs_robots/accessories/sensors/ins/fixposition) | Source | Source | [Fixposition Driver](https://github.com/fixposition/fixposition_driver) | ### Optical Cameras -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------------------------- | -| [Axis F1035-E](/docs_robots/accessories/sensors/cameras/axis_f1035_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis M5525-E](/docs_robots/accessories/sensors/cameras/axis_m5525_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis M5526-E](/docs_robots/accessories/sensors/cameras/axis_m5526_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis Q6225-LE-E](/docs_robots/accessories/sensors/cameras/axis_q6225_le) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Flir Blackfly S](/docs_robots/accessories/sensors/cameras/flir_blackfly_s) | Debian | Debian | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :-------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------------------------- | +| [Axis F1035-E](/docs_robots/accessories/sensors/cameras/axis_f1035_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis M5525-E](/docs_robots/accessories/sensors/cameras/axis_m5525_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis M5526-E](/docs_robots/accessories/sensors/cameras/axis_m5526_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis Q6225-LE-E](/docs_robots/accessories/sensors/cameras/axis_q6225_le) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Flir Blackfly S](/docs_robots/accessories/sensors/cameras/flir_blackfly_s) | Debian | Debian | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver) | ### Depth Cameras -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------------- | -| [Intel Realsense D435](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| [Intel Realsense D435i](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D415 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D455 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D456 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd) | Debian | Debian | [depthai-ros](https://github.com/luxonis/depthai-ros.git) | -| [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2) | Source | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------------------------------- | :------ | :------ | :--------------------------------------------------------------------- | +| [Intel Realsense D435](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| [Intel Realsense D435i](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D415 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D455 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D456 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd) | Debian | Debian | [depthai-ros](https://github.com/luxonis/depthai-ros.git) | +| [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2) | Source | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) | ### Pan-Tilt Units -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- | -| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu) | Debian | Debian | [flir_ptu](https://github.com/ros-drivers/flir_ptu) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------- | :------ | :------ | :-------------------------------------------------- | +| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu) | Debian | Debian | [flir_ptu](https://github.com/ros-drivers/flir_ptu) | ### 2D Lidars -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- | -| [SICK LMS-111/LMS-151](/docs_robots/accessories/sensors/lidar_2d/sick_lms111) | Debian | Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) | -| [Hokuyo UST10-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | -| [Hokuyo UST20-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | -| [Hokuyo UST30-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| Sensor | `amd64` | `arm64` | Source | +| :---------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------- | +| [SICK LMS-111/LMS-151](/docs_robots/accessories/sensors/lidar_2d/sick_lms111) | Debian | Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) | +| [Hokuyo UST10-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| [Hokuyo UST20-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| [Hokuyo UST30-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | ### 3D Lidars -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:--------------------------------------------------------- | -| [Velodyne Puck](/docs_robots/accessories/sensors/lidar_3d/velodyne_puck) | Debian | Debian | [Velodyne](https://github.com/ros-drivers/velodyne) | -| [Ouster OS-1](/docs_robots/accessories/sensors/lidar_3d/ouster) | Debian | Debian | [Ouster](https://github.com/ouster-lidar/ouster-ros) | -| [Seyond Robin W (Mesh only support)](/docs/ros/config/yaml/sensors/lidar3d#seyond-robin-w) | Source | Source | [Seyond](https://github.com/Seyond-Inc/seyond_ros_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :----------------------------------------------------------------------------------------- | :------ | :------ | :------------------------------------------------------------- | +| [Velodyne Puck](/docs_robots/accessories/sensors/lidar_3d/velodyne_puck) | Debian | Debian | [Velodyne](https://github.com/ros-drivers/velodyne) | +| [Ouster OS-1](/docs_robots/accessories/sensors/lidar_3d/ouster) | Debian | Debian | [Ouster](https://github.com/ouster-lidar/ouster-ros) | +| [Seyond Robin W (Mesh only support)](/docs/ros/config/yaml/sensors/lidar3d#seyond-robin-w) | Source | Source | [Seyond](https://github.com/Seyond-Inc/seyond_ros_driver) | +| [Hesai XT32 (Mesh only support)](/docs/ros/config/yaml/sensors/lidar3d#hesai-lidar) | Source | Source | [Hesai](https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0) | ### IMUs -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------- | -| [MicroStrain 3DM-GX5](/docs_robots/accessories/sensors/imu/microstrain_3dm_gx5) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| MicroStrain GV7-AHRS | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7) | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | -| CH Robotics UM6 | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | -| Phidgets IMU | Debian | Debian | [Phidgets](https://github.com/ros-drivers/phidgets_drivers) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------------------------------ | :------ | :------ | :------------------------------------------------------------------------ | +| [MicroStrain 3DM-GX5](/docs_robots/accessories/sensors/imu/microstrain_3dm_gx5) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| MicroStrain GV7-AHRS | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7) | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | +| CH Robotics UM6 | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | +| Phidgets IMU | Debian | Debian | [Phidgets](https://github.com/ros-drivers/phidgets_drivers) | ### GPS -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------- | -| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [Garmin GPS 18x](/docs_robots/accessories/sensors/gps/garmin_gps_18x) | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | -| [Swift Navigation Duro](/docs_robots/accessories/sensors/gps/swift_navigation_duro) | Source | Source | [Duro GPS Driver](https://github.com/szenergy/duro_gps_driver) | -| NovAtel SMART6 and SMART7 | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :---------------------------------------------------------------------------------- | :------ | :------ | :------------------------------------------------------------------------ | +| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [Garmin GPS 18x](/docs_robots/accessories/sensors/gps/garmin_gps_18x) | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | +| [Swift Navigation Duro](/docs_robots/accessories/sensors/gps/swift_navigation_duro) | Source | Source | [Duro GPS Driver](https://github.com/szenergy/duro_gps_driver) | +| NovAtel SMART6 and SMART7 | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | ### Inertial Navigation Sensors -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------------------------- | -| [Fixposition Vision-RTK 2](/docs_robots/accessories/sensors/ins/fixposition) | Source | Source | [Fixposition Driver](https://github.com/fixposition/fixposition_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :--------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------------------------- | +| [Fixposition Vision-RTK 2](/docs_robots/accessories/sensors/ins/fixposition) | Source | Source | [Fixposition Driver](https://github.com/fixposition/fixposition_driver) | ### Optical Cameras -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------------------------- | -| [Axis F1035-E](/docs_robots/accessories/sensors/cameras/axis_f1035_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis M5525-E](/docs_robots/accessories/sensors/cameras/axis_m5525_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis M5526-E](/docs_robots/accessories/sensors/cameras/axis_m5526_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis Q6225-LE-E](/docs_robots/accessories/sensors/cameras/axis_q6225_le) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Flir Blackfly S](/docs_robots/accessories/sensors/cameras/flir_blackfly_s) | Debian | Debian | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :-------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------------------------- | +| [Axis F1035-E](/docs_robots/accessories/sensors/cameras/axis_f1035_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis M5525-E](/docs_robots/accessories/sensors/cameras/axis_m5525_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis M5526-E](/docs_robots/accessories/sensors/cameras/axis_m5526_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis Q6225-LE-E](/docs_robots/accessories/sensors/cameras/axis_q6225_le) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Flir Blackfly S](/docs_robots/accessories/sensors/cameras/flir_blackfly_s) | Debian | Debian | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver) | ### Depth Cameras -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------------- | -| [Intel Realsense D435](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| [Intel Realsense D435i](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D415 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D455 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D456 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd) | Debian | Debian | [depthai-ros](https://github.com/luxonis/depthai-ros.git) | -| [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2) | Source | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------------------------------- | :------ | :------ | :--------------------------------------------------------------------- | +| [Intel Realsense D435](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| [Intel Realsense D435i](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D415 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D455 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D456 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd) | Debian | Debian | [depthai-ros](https://github.com/luxonis/depthai-ros.git) | +| [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2) | Source | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) | ### Pan-Tilt Units -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- | -| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu) | Debian | Debian | [flir_ptu](https://github.com/ros-drivers/flir_ptu) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------- | :------ | :------ | :-------------------------------------------------- | +| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu) | Debian | Debian | [flir_ptu](https://github.com/ros-drivers/flir_ptu) | diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/hesai_lidar.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/hesai_lidar.mdx new file mode 100644 index 000000000..cc4c3f8c0 --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/hesai_lidar.mdx @@ -0,0 +1,84 @@ + + + + + +
+
+
+ +
+
+		 +
+ +```yaml +lidar3d: + - model: hesai_lidar + urdf_enabled: true + launch_enabled: true + parent: lidar3d_row_link + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + ros_parameters: + hesai_driver: + config_path: /path/to/hesai/config/file0.yaml + - model: hesai_lidar + urdf_enabled: true + launch_enabled: true + parent: lidar3d_row_link + xyz: [0.1, 0.1, 0.1] + rpy: [0.0, 0.0, 0.0] + ros_parameters: + hesai_driver: + config_path: /path/to/hesai/config/file1.yaml +``` + +
+
+ +#### Package and Setup +The Hesai LiDAR uses the `hesai_ros_driver` ROS 2 driver. The driver is open source, maintained by Hesai Technology, +and hosted on [GitHub - HesaiLidar_ROS_2.0](https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0). The `hesai_ros_driver` +nodes depend on the [HesaiLidar_SDK_2.0](https://github.com/HesaiTechnology/HesaiLidar_SDK_2.0). The `hesai_ros_driver` +ROS2 package and SDK **are not installed by ROS dependencies** and need to be built against the specific version +installed on your computer. Therefore, **you will have to install these manually by following the instructions in the +[`HesaiLidar_ROS_2.0`](https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0/blob/master/README.md) repository**. + +The `hesai_ros_driver` only accepts one single ROS parameter which is `config_path` as shown above. +The `config_path` points to a configuraiton file formated as shown in the HesaiLidar_SDK_2.0 [config.yaml](https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0/blob/master/config/config.yaml). + +Each Hesai LiDAR must be listed first under lidar3d in the `robot.yaml` file and provide a different +the `config_path`. Each Hesai LiDAR must point to a unique `config.yaml`. +For the first Hesai LiDAR listed in the `robot.yaml` the following parameters in the `config.yaml` +must be modifed as shown: +``` +lidar: + - driver: + ... + lidar_udp_type: + device_ip_address: 192.168.131.25 + ... + multicast_ip_address: 192.168.131.1 + ... + ros: + ros_frame_id: lidar3d_0_laser + ... +``` +Any additional Hesai LiDAR should increment the `device_ip_address` (first lidar ip = 192.168.131.25, second lidar ip = 192.168.131.26, etc.) +along with the `ros_frame_id` (first lidar frame ID = `lidar3d_0_laser`, second lidar frame ID = `lidar3d_1_laser`, etc.) +The IP of the physical Hesai LiDAR must be updated as well. See the User Guide for the XT32 Hesai Lidar that can be downloaded here: https://www.cratustech.com/downloads/. + +The change of `multicast_ip_address` should be set according to the [Reserved IP Addresses](/docs/ros/networking/network_ip_addresses). +The value of `192.168.131.1` should be used if the hesai lidar is connected to the Primary Computer. + +The user can change any other parameter in the `config.yaml` based on their own use case. + + +#### Model + +There are several types of Hesai LiDAR models. Currently only the XT32 is supported. + +#### Mesh-Only Support + +The Hesai XT32 Lidar is only supported as a mesh in `robot.yaml`. \ No newline at end of file diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/img/hesai_xt32_lidar.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/img/hesai_xt32_lidar.png new file mode 100644 index 000000000..f8ea36928 Binary files /dev/null and b/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/img/hesai_xt32_lidar.png differ diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx index ebe3cbb61..486a4a774 100644 --- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx +++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx @@ -8,6 +8,7 @@ toc_max_heading_level: 4 import OusterLidar from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/ouster_os1.mdx"; import SeyondLidar from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/seyond_robin.mdx"; import VelodyneLidar from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/velodyne_lidar.mdx"; +import HesaiLidar from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/hesai_lidar.mdx"; Three dimensional LiDARs provide a pointcloud of all points detected by several planar scanners at various angles, which is published as a `sensor_msgs/PointCloud2` message. It is important to accurately position the LiDAR in the visual description of the robot to ensure that the scanned points are accurate with respect to the robot. @@ -21,3 +22,6 @@ Three dimensional LiDARs provide a pointcloud of all points detected by several ### Velodyne Lidar + +### Hesai Lidar +