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‎docs/reference-design/DanLawAV/ReferenceDesignforDanLawAV.md

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# Overview
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# Overview:
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This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available.
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4-
This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available.
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# Design Overview:
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# Design Overview
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![Meta Chart for DanLaw's AV Design](DanLawAV_Meta.png)
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![Tech Chart for DanLaw's AV Design](DanLawAV_Tech.png)
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# Who should read
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One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.
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# Who should read:
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One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.
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# References and Resources
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# References and Resources:
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- Complete F1Tenth documents: [link](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/intro.html)
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- Step-By-Step Instructions to deploy Autoware on F1Tenth: [link](https://f1tenth.readthedocs.io/en/foxy_test/autoware/intro.html)
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2019
# Contributors: [complete list](https://f1tenth.readthedocs.io/en/foxy_test/support/acknowledgment.html#contributors)
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## Core Developers
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- Firstname Lastname
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## Contributors
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- Firstname Lastname
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# Community Outreach
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- Firstname Lastname
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# Targeted Use Cases
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| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
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|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
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|F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
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| :--------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
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| F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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# ODD
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| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
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|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
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|F1Tenth | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
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| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
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| F1Tenth | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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# Automation Level:
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| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
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|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: |
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|F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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# Automation Level
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| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
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| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
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| F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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# System Architecture
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F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time.
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F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time.
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![[f1tenth_NX.webp]]
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# Hardware Configuration
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## Chassis:
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- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530)
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## Chassis
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- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530)
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- VESC Speed Controllers: # VESC 6 MK III
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## Sensors:
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## Sensors
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- Lidar: choose one
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- Hokuyo UTM-30LX
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- Hokuyo 10LX
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- Hokuyo UTM-30LX
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- Hokuyo 10LX
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- Camera (optional):
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- ZED 2
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- Intel Real Sense
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- ZED 2
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- Intel Real Sense
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## Computing Platforms
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## Computing Platforms:
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- NVIDIA Jetson Xavier NX
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- USB Hub (4 ports)
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- (DEPRECATED) NVIDIA Jetson TX2
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![[together_NX_00.jpeg]]
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# Software Configuration
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# Software Configuration
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- Software on the car:
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- Operating System: Linux 20.04
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- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
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- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
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- [Autoware](https://github.com/autowarefoundation/autoware.git)
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- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
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- Tools:
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- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
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- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
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- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)
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- Operating System: Linux 20.04
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- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
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- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
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- [Autoware](https://github.com/autowarefoundation/autoware.git)
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- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
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- Tools:
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- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
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- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
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- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)

‎docs/reference-design/F1Tenth/ReferenceDesignforF1TenthwithAutoware.md

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# Overview
12

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# Overview:
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This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available.
34

4-
This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available.
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# Design Overview:
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# Design Overview
76

87
![Meta Chart for F1Tenth Design](F1Tenth_Meta.png)
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![Tech Chart for F1Tenth Design](F1Tenth_Tech.png)
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10+
# Who should read
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One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.
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12-
# Who should read:
13-
One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.
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# References and Resources
1415

15-
# References and Resources:
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- Complete F1Tenth documents: [link](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/intro.html)
1717
- Step-By-Step Instructions to deploy Autoware on F1Tenth: [link](https://f1tenth.readthedocs.io/en/foxy_test/autoware/intro.html)
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2019
# Contributors: [complete list](https://f1tenth.readthedocs.io/en/foxy_test/support/acknowledgment.html#contributors)
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## F1TENTH Core Developers
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- Hongrui (Billy) Zheng
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- Johannes Betz
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## Contributors
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- Matthew O’Kelly
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- Kim Luong
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- Haoru Xue
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- Jim Benson
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# Community Outreach
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- Rahul Mangharam
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- F1TENTH Clemson and Venkat Krovi
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- Jaroslav Klapálek
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# Targeted Use Cases
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| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
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|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
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|F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
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| :--------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
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| F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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# ODD
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| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
47-
|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
48-
|F1Tenth | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
50+
| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
51+
| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
52+
| F1Tenth | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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# Automation Level:
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| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
52-
|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: |
53-
|F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
54+
# Automation Level
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| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
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| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
58+
| F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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# System Architecture
5761

58-
F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time.
62+
F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time.
5963

6064
![[f1tenth_NX.webp]]
6165

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# Hardware Configuration
63-
## Chassis:
64-
- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530)
67+
68+
## Chassis
69+
70+
- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530)
6571
- VESC Speed Controllers: # VESC 6 MK III
6672

67-
## Sensors:
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## Sensors
74+
6875
- Lidar: choose one
69-
- Hokuyo UTM-30LX
70-
- Hokuyo 10LX
76+
- Hokuyo UTM-30LX
77+
- Hokuyo 10LX
7178
- Camera (optional):
72-
- ZED 2
73-
- Intel Real Sense
79+
- ZED 2
80+
- Intel Real Sense
81+
82+
## Computing Platforms
7483

75-
## Computing Platforms:
7684
- NVIDIA Jetson Xavier NX
7785
- USB Hub (4 ports)
7886
- (DEPRECATED) NVIDIA Jetson TX2
7987

8088
![[together_NX_00.jpeg]]
8189

82-
# Software Configuration
90+
# Software Configuration
91+
8392
- Software on the car:
84-
- Operating System: Linux 20.04
85-
- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
86-
- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
87-
- [Autoware](https://github.com/autowarefoundation/autoware.git)
88-
- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
89-
- Tools:
90-
- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
91-
- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
92-
- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)
93+
- Operating System: Linux 20.04
94+
- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
95+
- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
96+
- [Autoware](https://github.com/autowarefoundation/autoware.git)
97+
- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
98+
- Tools:
99+
- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
100+
- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
101+
- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)

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