LIDARs

For software configuration of these LiDAR sensors, see the Sensor Configuration Guide.

Velodyne 3D LIDAR Sensors

Velodyne Lidars which has ROS 2 driver and tested by one or more community members are listed below:

Software Configuration: See Velodyne LiDAR Configuration Guide

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://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/drivers/velodyne_nodes 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:

Software Configuration: See RoboSense LiDAR Configuration Guide

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 driver:
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:

Software Configuration: See Hesai LiDAR Configuration Guide

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/en/

Leishen 3D LIDAR Sensors

Leishen Lidars which has ROS 2 driver and tested by one or more community members are listed below:

Software Configuration: See Leishen LiDAR Configuration Guide

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:

Software Configuration: See Livox LiDAR Configuration Guide

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:

Software Configuration: See Ouster LiDAR Configuration Guide

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/