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‎docs/reference-design/get-started/AutoSDV/index.md‎

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## Platform Models
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| Feature | Base | 360° LiDAR | Solid-State | Connected |
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|---------|------|------------|-------------|-----------|
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| **LiDAR** | None | Velodyne VLP-32C | Seyond Robin-W | Seyond Robin-W |
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| **LiDAR FOV** | - | 360° × 40° | 120° × 25° | 120° × 25° |
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| **LiDAR Range** | - | 100m | 150m | 150m |
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| Feature | Base | 360° LiDAR | Solid-State | Connected |
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| ---------------- | ----------- | --------------------- | ------------------ | ------------------ |
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| **LiDAR** | None | Velodyne VLP-32C | Seyond Robin-W | Seyond Robin-W |
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| **LiDAR FOV** | - | 360° × 40° | 120° × 25° | 120° × 25° |
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| **LiDAR Range** | - | 100m | 150m | 150m |
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| **Localization** | Vision only | NDT (full autonomous) | Development needed | Development needed |
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| **Connectivity** | Standard | Standard | Standard | 5G (Ataya/MOXA) |
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| **Battery Life** | 40 min | 40 min | 40 min | 40 min |
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| **Connectivity** | Standard | Standard | Standard | 5G (Ataya/MOXA) |
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| **Battery Life** | 40 min | 40 min | 40 min | 40 min |
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<table align="center" border="0" style="margin: 2em 0;">
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<tr>
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## Core Components
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| Component | Specification |
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|-----------|---------------|
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| **Chassis** | Tekno TKR9500 (16×11×5 inch) |
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| **Computer** | NVIDIA Jetson AGX Orin 64GB |
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| **Storage** | 1TB NVMe SSD |
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| **Camera** | ZED X Mini Stereo |
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| **IMU** | MPU9250 9-axis |
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| **Motor** | Brushless 4274/1500kv |
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| Component | Specification |
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| ------------ | ---------------------------- |
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| **Chassis** | Tekno TKR9500 (16×11×5 inch) |
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| **Computer** | NVIDIA Jetson AGX Orin 64GB |
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| **Storage** | 1TB NVMe SSD |
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| **Camera** | ZED X Mini Stereo |
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| **IMU** | MPU9250 9-axis |
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| **Motor** | Brushless 4274/1500kv |
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## Software
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AutoSDV runs on Autoware with ROS 2, providing autonomous navigation capabilities for outdoor environments.
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| Component | Details |
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|-----------|---------|
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| **Autoware** | Autoware.universe |
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| **ROS** | ROS 2 Humble |
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| Component | Details |
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| --------------- | ----------------------------------------------- |
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| **Autoware** | Autoware.universe |
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| **ROS** | ROS 2 Humble |
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| **Source Code** | [GitHub](https://github.com/NEWSLabNTU/AutoSDV) |
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## Resources

‎docs/reference-design/get-started/GoKart/Reference Design for Go-Kart with Autoware.md.bak‎

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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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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-Info Radar Chart for Go-Kart Design](images/MetaRadarChart-GoKart.png)
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![Tech Feature Radar Chart for Go-Kart Design](images/TechRadarChart-GoKart.png)
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# Who should read
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One is interested in building your small size autonomous vehicles 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 small size autonomous vehicles 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 Go-Kart with Autoware documents: [link](https://go-kart-upenn.readthedocs.io/en/latest/)
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- ROS 2 Foxy setup and autonomous code: [link](https://github.com/mlab-upenn/gokart-sensor/tree/ros2_foxy_purepursuit)
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- ROS 2 Humble setup and autonomous code: [Link](https://github.com/mlab-upenn/gokart-sensor/tree/ros2_humble_purepursuit)
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- STM32 nucleo controller code: [link](https://github.com/mlab-upenn/gokart-mechatronics/tree/main/STM32%20Control)
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# Contributors
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| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
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|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
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|Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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|Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <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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|Go-Kart | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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|Go-Kart | <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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|Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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|Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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# System Architecture
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Autonomous Go-Kart is a one-third scale autonomous go-kart autonomous vehicle for development and prototyping purpose. It can be used for developing and testing software components in Autoware.
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Autonomous Go-Kart is a one-third scale autonomous go-kart autonomous vehicle for development and prototyping purpose. It can be used for developing and testing software components in Autoware.
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![System Architecture](images/avev_gokart.png)
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## Computing Platforms
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- X86 laptop with nVidia GPU
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# Software Configuration
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# Software Configuration
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![GoKart-ComputeSensing.png](images/GoKart-ComputeSensing.png)

‎docs/reference-design/get-started/GoKart/index.md‎

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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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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-Info Radar Chart for Go-Kart Design](images/MetaRadarChart-GoKart.png)
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![Tech Feature Radar Chart for Go-Kart Design](images/TechRadarChart-GoKart.png)
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# Who should read
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One is interested in building your small size autonomous vehicles 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 small size autonomous vehicles 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 Go-Kart with Autoware documents: [link](https://go-kart-upenn.readthedocs.io/en/latest/)
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- ROS 2 Foxy setup and autonomous code: [link](https://github.com/mlab-upenn/gokart-sensor/tree/ros2_foxy_purepursuit)
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- ROS 2 Humble setup and autonomous code: [Link](https://github.com/mlab-upenn/gokart-sensor/tree/ros2_humble_purepursuit)
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- STM32 nucleo controller code: [link](https://github.com/mlab-upenn/gokart-mechatronics/tree/main/STM32%20Control)
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# Contributors
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-  Autoware Center of Excellence (under Prof. Rahul Mangharam)
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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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|Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <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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| Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <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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|Go-Kart | <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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| Go-Kart | <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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|Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
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| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: |
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| Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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# System Architecture
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Autonomous Go-Kart is a one-third scale autonomous go-kart autonomous vehicle for development and prototyping purpose. It can be used for developing and testing software components in Autoware.
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Autonomous Go-Kart is a one-third scale autonomous go-kart autonomous vehicle for development and prototyping purpose. It can be used for developing and testing software components in Autoware.
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![System Architecture](images/avev_gokart.png)
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# Hardware Configuration
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## Chassis
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- TopKart: [link to purchase]()
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- TopKart: [link to purchase]()
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## Sensors
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- Lidar: Ouster LIDAR OS1 and Velodyne M1600
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- Camera: OAK-D camera
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- GNSS: RTK-GNSS
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## Computing Platforms
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- X86 laptop with nVidia GPU
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# Software Configuration
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# Software Configuration
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![GoKart-ComputeSensing.png](images/GoKart-ComputeSensing.png)

‎docs/reference-design/get-started/RoboRacer/index.md‎

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![Radar Chart for RoboRacer Design](images/RadarChart-F1Tenth.png)
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# Who should read
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# References and Resources
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- Complete RoboRacer documents: [link](https://roboracer.ai/)
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- RoboRacer Learn: [link](https://roboracer.ai/learn)
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# Contributors [complete list](https://roboracer.ai/)
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## RoboRacer Core Developers
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- Hongrui (Billy) Zheng
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- Johannes Betz
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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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- Rahul Mangharam
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- RoboRacer 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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|RoboRacer | <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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| RoboRacer | <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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|RoboRacer | <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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| RoboRacer | <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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|RoboRacer | <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 | 0 | 1 | 2 | 3 | 4 | 5 |
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| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
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| RoboRacer | <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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![RoboRacer NX](images/f1tenth_NX.png)
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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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- 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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- 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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- ZED 2
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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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![RoboRacer](images/together_NX.png)
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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: [ROS 2 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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- Operating System: Linux 20.04
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- ROS: [ROS 2 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: [RoboRacer simulator](https://github.com/f1tenth/f1tenth_gym)
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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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- Simulator: [RoboRacer simulator](https://github.com/f1tenth/f1tenth_gym)
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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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