# 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/tier4/nebula>)  
[https://github.com/ros-drivers/velodyne/tree/ros2/velodyne\_pointcloud](<https://github.com/ros-drivers/velodyne/tree/ros2/velodyne_pointcloud>)  
[https://github.com/autowarefoundation/awf\_velodyne/tree/tier4/universe](<https://github.com/autowarefoundation/awf_velodyne/tree/tier4/universe>)

Link to company website:  
[https://velodynelidar.com/](<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°<br>31°/360°<br>26°/360° | Y | Y |
| Helios 16 | 150m | 30°/360° | Y | ? |

Link to ROS 2 drivers:  
[https://github.com/tier4/nebula](<https://github.com/tier4/nebula>) (Bpearl and Helios)  
[https://github.com/RoboSense-LiDAR/rslidar\_sdk](<https://github.com/RoboSense-LiDAR/rslidar_sdk>)

Link to company website:  
[https://www.robosense.ai/](<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/tier4/nebula>)  
[https://github.com/HesaiTechnology/HesaiLidar\_General\_ROS](<https://github.com/HesaiTechnology/HesaiLidar_General_ROS>)

Link to company website:  
[https://www.hesaitech.com](<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](<https://github.com/leishen-lidar>)

Link to company website:  
[http://www.lslidar.com/](<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](<https://github.com/Livox-SDK/livox_ros2_driver>)

Link to company website:  
[https://www.livoxtech.com/](<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](<https://github.com/ros-drivers/ros2_ouster_drivers>)

Link to company website:  
[https://ouster.com/](<https://ouster.com/>)