Implement sensor drivers for ROS 2

[BonoloAWF]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

Implement sensor drivers for ROS 2

Purpose

The Bus ODD is being developed in ROS 2 which requires porting sensor drivers where required

Possible approaches

Find open source sensor drivers or implement the required drivers

Definition of done

• [ ] List of sensors on the bus
• [ ] List of missing ROS 2 drivers
• [ ] Development of missing drivers

[mitsudome-r]

Yang shared https://github.com/Kitware/LidarView, which might help us design a unified sensor driver for different LiDARs. We should go through different LiDAR implementation (ros-driver, autoware.auto, Nagoya University implementation) to have the best design for Autoware.

[TakumiKozaka-T4]

@BonoloAWF Could you remove my name from assignees? I'm not concerned with this issue.

TakumiKozaka-T4 pushed a commit to TakumiKozaka-T4/autoware.universe that referenced this issue 22 hours ago

I didn't push anything. I only updated my forked repository.

[senagolcuk]

Sensor Type	Sensor Model	Sensor Driver
Radar	Delphi ESR	Missing
Lidar	Ouster OS1-64	OS1-64 ROS2 Driver
GNSS-INS	Trimble BX992-INS	Missing
Camera	Onsemi AC-AR0231	Missing

[mitsudome-r]

@mitsudome-r will check with ITRI about ROS2 drivers for their platform

[BonoloAWF]

@hueirutseng what is the status update regarding upgrading ROS 2 drivers for the Bus ODD ITRI platform? Are there any missing drivers?

[jason914]

@BonoloAWF The driver of camera AR0231 tested OK for ROS2.

[mitsudome-r]

@jason914 Could you provide a similar table that @senagolcuk provided in his comment? ( including the link to the code of each driver)

[jason914]

Sensor Type	Sensor Model	Sensor driver	Status
Radar	Delphi ESR	Missing	Work in progress
Lidar	Ouster OS1-64	OS1-64-ROS2 driver	Tested OK
GNSS-INS	Trimble BX992-INS	Missing	Work in progess
Camera	Onsemi AC-AR0231	Private code(Please contact Neousys for source code)	Tested OK

[mitsudome-r]

@jason914 Thanks for posting the table. Do you have any updates + estimated timeline on Radar and GNSS-INS sensor driver?

[mikechan0731]

Sensor Type	Sensor Model	Sensor driver
Radar	Delphi ESR	WIP, Estimated test date is the end of Oct.
Lidar	Ouster OS1-64	ros2-ouster-driver
GNSS-INS	Trimble BX992-INS	Ready, Waiting for official upload space.
Camera	Onsemi AC-AR0231	Private code, Camera manufacturer does not provide code.

[mitsudome-r]

Expected message for GNSS is explained here: https://github.com/autowarefoundation/autoware_msgs/pull/24

[mitsudome-r]

Once we have all drivers available, we can merge the information with the list created in the hardware WG and post it in autoware website.

[xmfcx]

@senagolcuk could you update here with the sensor drivers used in the ISUZU bus project?

@meliketanrikulu can you share the estimated timeline for the open sourcing of the applanix driver?

[senagolcuk]

Sensor Type	Sensor Model	Sensor Driver Status
Lidar	Velodyne Puck Lidar	Velodyne Driver
Lidar	Velodyne Ultra Puck Lidar	Velodyne Driver
GNSS-INS	Applanix POS LVX	Applanix Driver
Camera	LucidVisionLabs Triton 5.4 MP	LucidVisionLabs Triton Driver

[xmfcx]

Applanix POS LVX GNSS-INS driver will be published here: https://github.com/autowarefoundation/applanix

[mitsudome-r]

@senagolcuk Could you tell me why your sensor driver status for lidar is "Work in progress"? If you have the link to the driver that you are using, could you share it as well?

[senagolcuk]

@mitsudome-r

I'm updating now.

[meliketanrikulu]

Applanix POS LVX GNSS-INS driver will be published here: https://github.com/autowarefoundation/applanix

Added applanix POS LVX GNSS-INS driver.

[sglee-morai]

I have a question. Is it planned that OS1-64-ROS2 driver will be included in the Autoware.Universe like Velodyne drivers are? I see OS1-64 in the comment above, but cannot find a PR regarding that.

[mitsudome-r]

@mikechan0731 Could you update this comment to add the link to the drivers that you are using?

[senagolcuk]

@meliketanrikulu thanks for Applanix Driver. I'm updating the table for the new driver.

[jason914]

Sensor Type	Sensor Model	Sensor Driver Status
Radar	Delphi ESR	WIP, Estimated completion date is the end of August
Lidar	Ouster OS1-64	ros2-ouster-driver
GNSS-INS	Trimble BX992-INS	Private code, GNSS-INS manufacturer does not provide code.
Camera	Onsemi AC-AR0231	Private code, Camera manufacturer does not provide code.

[xmfcx]

@senagolcuk could you update the list with the https://github.com/autowarefoundation/lucid_vision_driver driver?

[senagolcuk]

@xmfcx I updated it.

[mitsudome-r]

Regarding ITRI's comment: https://github.com/autowarefoundation/autoware.universe/issues/551#issuecomment-1211529554 GNSS-INS driver is ready for testing, but the code is private now. They need internal review to find if they can share the code.

[xmfcx]

Since we've gathered possible sensor drivers, we can close this issue.

[xmfcx]

https://github.com/autowarefoundation/autoware-projects/wiki/Bus-ODD-Project related.