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83 changes: 46 additions & 37 deletions docs/reference-design/DanLawAV/ReferenceDesignforDanLawAV.md
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# Overview

# Overview:
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.

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.

# Design Overview:
# Design Overview

![Meta Chart for DanLaw's AV Design](DanLawAV_Meta.png)
![Tech Chart for DanLaw's AV Design](DanLawAV_Tech.png)

# Who should read

One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.

# Who should read:
One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.
# References and Resources

# References and Resources:
- Complete F1Tenth documents: [link](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/intro.html)
- Step-By-Step Instructions to deploy Autoware on F1Tenth: [link](https://f1tenth.readthedocs.io/en/foxy_test/autoware/intro.html)


# Contributors: [complete list](https://f1tenth.readthedocs.io/en/foxy_test/support/acknowledgment.html#contributors)

## Core Developers

- Firstname Lastname

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## Contributors

- Firstname Lastname

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# Community Outreach

- Firstname Lastname

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# Targeted Use Cases

| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
|F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
| :--------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
| F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |

# ODD

| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
|F1Tenth | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
| F1Tenth | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |

# Automation Level:
| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: |
|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 /> |
# Automation Level

| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
| 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 /> |

# System Architecture

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.
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.

![[f1tenth_NX.webp]]

# Hardware Configuration
## Chassis:
- 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)

## Chassis

- 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:
## Sensors

- Lidar: choose one
- Hokuyo UTM-30LX
- Hokuyo 10LX
- Hokuyo UTM-30LX

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- Hokuyo 10LX
- Camera (optional):
- ZED 2
- Intel Real Sense
- ZED 2
- Intel Real Sense

## Computing Platforms

## Computing Platforms:
- NVIDIA Jetson Xavier NX
- USB Hub (4 ports)
- (DEPRECATED) NVIDIA Jetson TX2

![[together_NX_00.jpeg]]

# Software Configuration
# Software Configuration

- Software on the car:
- Operating System: Linux 20.04
- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
- [Autoware](https://github.com/autowarefoundation/autoware.git)
- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
- Tools:
- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)
- Operating System: Linux 20.04
- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
- [Autoware](https://github.com/autowarefoundation/autoware.git)
- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
- Tools:
- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)
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@@ -1,27 +1,30 @@
# Overview

# Overview:
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.

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.

# Design Overview:
# Design Overview

![Meta Chart for F1Tenth Design](F1Tenth_Meta.png)
![Tech Chart for F1Tenth Design](F1Tenth_Tech.png)

# Who should read

One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.

# Who should read:
One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.
# References and Resources

# References and Resources:
- Complete F1Tenth documents: [link](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/intro.html)
- Step-By-Step Instructions to deploy Autoware on F1Tenth: [link](https://f1tenth.readthedocs.io/en/foxy_test/autoware/intro.html)


# Contributors: [complete list](https://f1tenth.readthedocs.io/en/foxy_test/support/acknowledgment.html#contributors)

## F1TENTH Core Developers

- Hongrui (Billy) Zheng
- Johannes Betz

## Contributors

- Matthew O’Kelly
- Kim Luong
- Haoru Xue
Expand All @@ -31,62 +34,68 @@ One is interested in building your autonomous racing cars or low-cost platforms
- Jim Benson

# Community Outreach

- Rahul Mangharam
- F1TENTH Clemson and Venkat Krovi
- Jaroslav Klapálek

# Targeted Use Cases

| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
|F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
| :--------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
| F1Tenth | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |

# ODD

| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
|F1Tenth | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
| F1Tenth | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |

# Automation Level:
| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: |
|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 /> |
# Automation Level

| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
| 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 /> |

# System Architecture

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.
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.

![[f1tenth_NX.webp]]

# Hardware Configuration
## Chassis:
- 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)

## Chassis

- 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)
- VESC Speed Controllers: # VESC 6 MK III

## Sensors:
## Sensors

- Lidar: choose one
- Hokuyo UTM-30LX
- Hokuyo 10LX
- Hokuyo UTM-30LX
- Hokuyo 10LX
- Camera (optional):
- ZED 2
- Intel Real Sense
- ZED 2
- Intel Real Sense

## Computing Platforms

## Computing Platforms:
- NVIDIA Jetson Xavier NX
- USB Hub (4 ports)
- (DEPRECATED) NVIDIA Jetson TX2

![[together_NX_00.jpeg]]

# Software Configuration
# Software Configuration

- Software on the car:
- Operating System: Linux 20.04
- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
- [Autoware](https://github.com/autowarefoundation/autoware.git)
- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
- Tools:
- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)
- Operating System: Linux 20.04
- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
- [Autoware](https://github.com/autowarefoundation/autoware.git)
- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
- Tools:
- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)
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