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How to I test a new LiDAR sensor with Autoware?

asked 2019-08-14 13:30:28 -0500

spectralflight gravatar image

I would like to test the Cepton 3D LiDAR sensors with Autoware. It already has a ROS node which outputs PointCloud2 messages (https://github.com/ceptontech/cepton_ros). Where should I start? Are there sample launch files I can use and just swap out the Velodyne node?

Do your algorithms rely on the structured nature of spinning LiDAR data?

How does one get added to your list of supported hardware? Is there a formal process?

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answered 2019-08-16 15:28:36 -0500

Maximus5684 gravatar image

@spectralflight - If the sensor you are trying to test already puts out a point cloud, you should just be able to remap that to /points_raw and give it the frame lidar and everything in Autoware should work with it by default. You may also need to try the frame velodyne in some cases, but we are trying to make lidarthe default to be vendor-agnostic. As for "supported hardware", there really isn't a set for Autoware.ai. However, there is a new Autoware Reference Platform Working Group which you can read more about at https://discourse.ros.org/t/wg-rp-aut....

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Asked: 2019-08-14 13:30:28 -0500

Seen: 43 times

Last updated: Aug 16