LIDARs#
Velodyne 3D LIDAR Sensors#
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) |
|---|---|---|---|---|
| Alpha Prime | 245m | (+15°)/(-25°), (360°) | Y | Y |
| Ultra Puck | 200m | (+15°)/(-25°), (360°) | Y | Y |
| Puck | 100m | (+15°)/(-15°), (360°) | Y | Y |
| Puck Hi-res | 100m | (+10°)/(-10°), (360°) | Y | Y |
Link to ROS 2 drivers:
https://github.com/tier4/nebula
https://github.com/ros-drivers/velodyne/tree/ros2/velodyne_pointcloud
https://github.com/autowarefoundation/awf_velodyne/tree/tier4/universe
Link to company website:
https://velodynelidar.com/
RoboSense 3D LIDAR Sensors#
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) |
|---|---|---|---|---|
| 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 drivers:
https://github.com/tier4/nebula (Bpearl and Helios)
https://github.com/RoboSense-LiDAR/rslidar_sdk
Link to company website:
https://www.robosense.ai/
HESAI 3D LIDAR Sensors#
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 |
| 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/HesaiTechnology/HesaiLidar_General_ROS
Link to company website:
https://www.hesaitech.com
Leishen 3D LIDAR Sensors#
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) |
|---|---|---|---|---|
| LS C16 | 150m | (+15°/-15°), (360°) | Y | - |
| 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
Link to company website:
http://www.lslidar.com/
Livox 3D LIDAR Sensors#
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-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
Link to company website:
https://www.livoxtech.com/
Ouster 3D LIDAR Sensors#
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) |
|---|---|---|---|---|
| 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
Link to company website:
https://ouster.com/