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LIDARs#

Velodyne 3D LIDAR Sensors#

lidar-velodyne.png

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://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#

images/lidar-robosense.png

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 driver:
https://github.com/RoboSense-LiDAR/rslidar_sdk

Link to company website:
https://www.robosense.ai/

HESAI 3D LIDAR Sensors#

images/lidar-hesai.png

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/en/

Leishen 3D LIDAR Sensors#

images/lidar-leishen.png

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#

images/lidar-livox.png

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#

images/lidar-ouster.png

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/