Difference between revisions of "Advantech Robotic Suite/Sensors"
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| − | '''There are sensors that have been verified on Advantech platforms with ROS 2 suite as below.''' | + | |
| + | <span style="font-size:larger;">'''There are sensors that have been verified on Advantech platforms with ROS 2 suite as below.'''</span> | ||
= 2D Camera = | = 2D Camera = | ||
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| style="width: 338px;" | Resolution: 4024 x 3036,<br/> Frame Rate Up to 31 fps<br/> Color: Mono<br/> CMOS | | style="width: 338px;" | Resolution: 4024 x 3036,<br/> Frame Rate Up to 31 fps<br/> Color: Mono<br/> CMOS | ||
| style="width: 94px; text-align: center;" | USB 3.0 | | style="width: 94px; text-align: center;" | USB 3.0 | ||
| − | | style="width: 133px; text-align: center;" | [https://www.baslerweb.com/ Official website] <br> [https://github.com/basler/pylon-ros-camera Official github] | + | | style="width: 133px; text-align: center;" | [https://www.baslerweb.com/ Official website]<br/> [https://github.com/basler/pylon-ros-camera Official github] |
| − | | style="width: 308px;" | | + | | style="width: 308px;" | |
|- | |- | ||
| style="width: 56px;" | Camera | | style="width: 56px;" | Camera | ||
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| style="width: 338px;" | Resolution: 2448 x 2048<br/> Frame Rate Up to 23 fps<br/> Color: Mono<br/> CMOS | | style="width: 338px;" | Resolution: 2448 x 2048<br/> Frame Rate Up to 23 fps<br/> Color: Mono<br/> CMOS | ||
| style="width: 94px; text-align: center;" | PoE | | style="width: 94px; text-align: center;" | PoE | ||
| − | | style="width: 133px; text-align: center;" | [https://www.baslerweb.com/ Official website] <br> [https://github.com/basler/pylon-ros-camera Official github] | + | | style="width: 133px; text-align: center;" | [https://www.baslerweb.com/ Official website]<br/> [https://github.com/basler/pylon-ros-camera Official github] |
| − | | style="width: 308px;" | | + | | style="width: 308px;" | |
|} | |} | ||
| − | = 3D Camera = | + | = 3D Camera = |
{| border="1" cellpadding="1" cellspacing="1" style="width: 1420px;" | {| border="1" cellpadding="1" cellspacing="1" style="width: 1420px;" | ||
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| style="width: 338px;" | Optimal Range 10cm – 1.5M<br/> Depth FOV (H x V) H50 x V32.5 Depth<br/> Output Resolution Up to 640 x 400p<br/> Frame Rate Up to 30FPS | | style="width: 338px;" | Optimal Range 10cm – 1.5M<br/> Depth FOV (H x V) H50 x V32.5 Depth<br/> Output Resolution Up to 640 x 400p<br/> Frame Rate Up to 30FPS | ||
| style="width: 94px; text-align: center;" | USB 3.0 | | style="width: 94px; text-align: center;" | USB 3.0 | ||
| − | | style="width: 133px; text-align: center;" | [https://www.ecapturecamera.com/g53 Official website] <br> [https://github.com/eYs3D/HD-DM-ROS2-SDK-Release Official github] | + | | style="width: 133px; text-align: center;" | [https://www.ecapturecamera.com/g53 Official website]<br/> [https://github.com/eYs3D/HD-DM-ROS2-SDK-Release Official github] |
| − | | style="width: 308px;" | | + | | style="width: 308px;" | |
|- | |- | ||
| style="width: 56px;" | Camera | | style="width: 56px;" | Camera | ||
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| style="width: 113px;" | D435i | | style="width: 113px;" | D435i | ||
| style="width: 74px;" | [[File:ROS2 Suite realsense-D435i.png|center|130x130px|ROS2 Suite realsense-D435i.png]] | | style="width: 74px;" | [[File:ROS2 Suite realsense-D435i.png|center|130x130px|ROS2 Suite realsense-D435i.png]] | ||
| − | | style="width: 338px;" | RGB: 1920×1080 30fps<br>Depth: Up to 1280x720 90fps<br>6-axis IMU | + | | style="width: 338px;" | RGB: 1920×1080 30fps<br/> Depth: Up to 1280x720 90fps<br/> 6-axis IMU |
| style="width: 94px; text-align: center;" | USB 3.0 | | style="width: 94px; text-align: center;" | USB 3.0 | ||
| − | | style="width: 133px; text-align: center;" | [https://www.intelrealsense.com/depth-camera-d435i/ Official website] <br> [https://github.com/IntelRealSense/realsense-ros Official github] | + | | style="width: 133px; text-align: center;" | [https://www.intelrealsense.com/depth-camera-d435i/ Official website]<br/> [https://github.com/IntelRealSense/realsense-ros Official github] |
| − | | style="width: 308px;" | [[ | + | | style="width: 308px;" | [[ROS2_Suite/Q&A#Known_issues_of_realsense_camera|Known issues of realsense camera]] |
|} | |} | ||
| − | + | | |
= 2D Lidar = | = 2D Lidar = | ||
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| style="width: 338px;" | Scan speed: 8 KHz<br/> Range: 0.15–6 Meters<br/> Horizontal scan angle: 360°<br/> Horizontal scan speed: 2-10Hz<br/> For SLAM or Navigation | | style="width: 338px;" | Scan speed: 8 KHz<br/> Range: 0.15–6 Meters<br/> Horizontal scan angle: 360°<br/> Horizontal scan speed: 2-10Hz<br/> For SLAM or Navigation | ||
| style="width: 94px; text-align: center;" | USB | | style="width: 94px; text-align: center;" | USB | ||
| − | | style="width: 133px; text-align: center;" | [https://www.slamtec.com/en/Lidar/A1 Official website] <br> [https://github.com/Slamtec/rplidar_ros Official github] | + | | style="width: 133px; text-align: center;" | [https://www.slamtec.com/en/Lidar/A1 Official website]<br/> [https://github.com/Slamtec/rplidar_ros Official github] |
| − | | style="width: 308px;" | | + | | style="width: 308px;" | |
|- | |- | ||
| style="width: 56px;" | Lidar | | style="width: 56px;" | Lidar | ||
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| style="width: 113px;" | NanoScan3 | | style="width: 113px;" | NanoScan3 | ||
| style="width: 74px;" | [[File:ROS2 Suite SICK-nanoScan.png|center|100x100px|ROS2 Suite SICK-nanoScan.png]] | | style="width: 74px;" | [[File:ROS2 Suite SICK-nanoScan.png|center|100x100px|ROS2 Suite SICK-nanoScan.png]] | ||
| − | | style="width: 338px;" | Scanning angle: 275°<br/> Protective field range: 3m<br/> Warning field range: 10m<br/>Response time: ≥70ms | + | | style="width: 338px;" | Scanning angle: 275°<br/> Protective field range: 3m<br/> Warning field range: 10m<br/> Response time: ≥70ms |
| style="width: 94px; text-align: center;" | USB | | style="width: 94px; text-align: center;" | USB | ||
| − | | style="width: 133px; text-align: center;" | [https://www.sick.com/tw/en/safety-laser-scanners/safety-laser-scanners/nanoscan3/c/g507056 Official website] <br> [https://github.com/SICKAG/sick_safetyscanners2 Official github] | + | | style="width: 133px; text-align: center;" | [https://www.sick.com/tw/en/safety-laser-scanners/safety-laser-scanners/nanoscan3/c/g507056 Official website]<br/> [https://github.com/SICKAG/sick_safetyscanners2 Official github] |
| − | | style="width: 308px;" | | + | | style="width: 308px;" | |
|- | |- | ||
| style="width: 56px;" | Lidar | | style="width: 56px;" | Lidar | ||
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| style="width: 68px;" | AOCI | | style="width: 68px;" | AOCI | ||
| style="width: 113px;" | SapphireS_S | | style="width: 113px;" | SapphireS_S | ||
| − | | style="width: 74px;" | [[File:ROS2 Suite AOCI- | + | | style="width: 74px;" | [[File:ROS2 Suite AOCI-SapphireS S.png|center|100x100px|ROS2 Suite AOCI-SapphireS_S.png]] |
| − | | style="width: 338px;" | Horizontal angle: 360°<br/> Range: 30m<br/> Scanning frequency: 10Hz<br/> Angular resolution: 0.5° | + | | style="width: 338px;" | Horizontal angle: 360°<br/> Range: 30m<br/> Scanning frequency: 10Hz<br/> Angular resolution: 0.5° |
| style="width: 94px; text-align: center;" | Ethernet | | style="width: 94px; text-align: center;" | Ethernet | ||
| style="width: 133px; text-align: center;" | [https://www.asia-optical.com/product_detail_2.php?serial=409&lang=en Official website] | | style="width: 133px; text-align: center;" | [https://www.asia-optical.com/product_detail_2.php?serial=409&lang=en Official website] | ||
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|} | |} | ||
| − | = 3D Lidar = | + | = 3D Lidar = |
{| border="1" cellpadding="1" cellspacing="1" style="width: 1420px;" | {| border="1" cellpadding="1" cellspacing="1" style="width: 1420px;" | ||
| Line 137: | Line 138: | ||
| style="width: 113px;" | MultiScan | | style="width: 113px;" | MultiScan | ||
| style="width: 74px;" | [[File:ROS2 Suite SICK-MultiScan.png|center|100x100px|ROS2 Suite SICK-MultiScan.png]] | | style="width: 74px;" | [[File:ROS2 Suite SICK-MultiScan.png|center|100x100px|ROS2 Suite SICK-MultiScan.png]] | ||
| − | | style="width: 338px;" | Horizontal angle: 360°<br/> Range: 60m<br/> Scanning frequency: 20Hz<br/> Angular resolution: 0.125° | + | | style="width: 338px;" | Horizontal angle: 360°<br/> Range: 60m<br/> Scanning frequency: 20Hz<br/> Angular resolution: 0.125° |
| style="width: 94px; text-align: center;" | USB | | style="width: 94px; text-align: center;" | USB | ||
| − | | style="width: 133px; text-align: center;" | [https://www.sick.com/tw/en/lidar-sensors/3d-lidar-sensors/multiscan100/c/g574914 Official website] <br> [https://github.com/SICKAG/sick_scan_xd Official github] | + | | style="width: 133px; text-align: center;" | [https://www.sick.com/tw/en/lidar-sensors/3d-lidar-sensors/multiscan100/c/g574914 Official website]<br/> [https://github.com/SICKAG/sick_scan_xd Official github] |
| − | | style="width: 308px;" | | + | | style="width: 308px;" | |
|} | |} | ||
| − | = IMU = | + | = IMU = |
{| border="1" cellpadding="1" cellspacing="1" style="width: 1420px;" | {| border="1" cellpadding="1" cellspacing="1" style="width: 1420px;" | ||
| Line 164: | Line 165: | ||
| style="width: 338px;" | 16bit Gyroscope ±2g/±4g/±8g/±16<br/> 14bit Accelerometer ±125°/s~2000°/s<br/> Magnetometer ±1300uT(x-,y-axis);±2500uT(z-axis)<br/> Temperature sensor 0℃~65℃ | | style="width: 338px;" | 16bit Gyroscope ±2g/±4g/±8g/±16<br/> 14bit Accelerometer ±125°/s~2000°/s<br/> Magnetometer ±1300uT(x-,y-axis);±2500uT(z-axis)<br/> Temperature sensor 0℃~65℃ | ||
| style="width: 94px; text-align: center;" | USB | | style="width: 94px; text-align: center;" | USB | ||
| − | | style="width: 133px; text-align: center;" | [https://www.bosch-sensortec.com/products/smart-sensors/bno055/ Official website] <br> [https://github.com/flynneva/bno055 Unofficial github] | + | | style="width: 133px; text-align: center;" | [https://www.bosch-sensortec.com/products/smart-sensors/bno055/ Official website]<br/> [https://github.com/flynneva/bno055 Unofficial github] |
| − | | style="width: 308px;" | | + | | style="width: 308px;" | |
|} | |} | ||
<headertabs></headertabs> | <headertabs></headertabs> | ||
| − | + | <span style="font-size:larger;">'''Note: If you want to integrate your sensor in Advantech ROS2 Suite. You can contact with Advantech PM Nathon email (Nathan.Wang@advantech.com).'''</span> | |
| − | '''Note: If you want to integrate your sensor in Advantech ROS2 Suite. You can contact with Advantech PM Nathon email (Nathan.Wang@advantech.com).''' | ||
Revision as of 02:59, 9 June 2023
There are sensors that have been verified on Advantech platforms with ROS 2 suite as below.
[edit]
| Type | Sensor | Brand | Model | Image | Specification | Interface | Info | Note |
| Camera | 2D | Basler | QCAM-UM4024 |  |
Resolution: 4024 x 3036, Frame Rate Up to 31 fps Color: Mono CMOS |
USB 3.0 | Official website Official github |
|
| Camera | 2D | Basler | QCAM-GM-2440 | |
Resolution: 2448 x 2048 Frame Rate Up to 23 fps Color: Mono CMOS |
PoE | Official website Official github |
| Type | Sensor | Brand | Model | Image | Specification | Interface | Info | Note |
| Camera | 3D Stereo | eYs3D | G53 |  |
Optimal Range 10cm – 1.5M Depth FOV (H x V) H50 x V32.5 Depth Output Resolution Up to 640 x 400p Frame Rate Up to 30FPS |
USB 3.0 | Official website Official github |
|
| Camera | Depth camera | Intel | D435i |  |
RGB: 1920×1080 30fps Depth: Up to 1280x720 90fps 6-axis IMU |
USB 3.0 | Official website Official github |
Known issues of realsense camera |
| Type | Sensor | Brand | Model | Image | Specification | Interface | Info | Note |
| Lidar | 360 lidar | Slamtec | A1M8 |  |
Scan speed: 8 KHz Range: 0.15–6 Meters Horizontal scan angle: 360° Horizontal scan speed: 2-10Hz For SLAM or Navigation |
USB | Official website Official github |
|
| Lidar | 2D lidar | SICK | NanoScan3 |  |
Scanning angle: 275° Protective field range: 3m Warning field range: 10m Response time: ≥70ms |
USB | Official website Official github |
|
| Lidar | 2D lidar | AOCI | SapphireS_S |  |
Horizontal angle: 360° Range: 30m Scanning frequency: 10Hz Angular resolution: 0.5° |
Ethernet | Official website | Please contact AOCI for more ROS driver information and assistance. |
| Type | Sensor | Brand | Model | Image | Specification | Interface | Info | Note |
| Lidar | 3D lidar | SICK | MultiScan |  |
Horizontal angle: 360° Range: 60m Scanning frequency: 20Hz Angular resolution: 0.125° |
USB | Official website Official github |
| Type | Sensor | Brand | Model | Image | Specification | Interface | Info | Note |
| IMU | 9-axis imu | Bosch | Bno055 |  |
16bit Gyroscope ±2g/±4g/±8g/±16 14bit Accelerometer ±125°/s~2000°/s Magnetometer ±1300uT(x-,y-axis);±2500uT(z-axis) Temperature sensor 0℃~65℃ |
USB | Official website Unofficial github |
Note: If you want to integrate your sensor in Advantech ROS2 Suite. You can contact with Advantech PM Nathon email (Nathan.Wang@advantech.com).