Isaac includes driver codelets for the following hardware components:
LiDARs:
Velodyne LiDAR: a driver codelet for the Velodyne VLP16 LIDAR sensor
Livox LiDAR: a driver codelet for the Livox Mid-40 LIDAR sensor
YD LiDAR: a driver codelet for the YD LiDAR
Cameras:
Realsense camera: a wrapper codelet for the Realsense SDK supporting Realsense D415 and D435
ZED camera: a wrapper codelet for the ZED camera SDK
Video4Linux (V4L2) cameras: a wrapper codelet that supports most cameras that use the Video For Linux architecture
Argus CSI camera: a wrapper codelet for cameras interfacing via libargus
Robotics hardware:
Segway RMP: a driver codelet for the robotics base RMP220 and RMP440 from Segway
Kinova Jaco: a wrapper codelet for the Jaco robotics arm based on the Kinova SDK
Kaya Base: a codelet to control a Kaya base (using the Dynamixel driver codelet)
Dynamixels: a driver codelet to control Dynamixel motors (only certain models are supported)
Other hardware components:
Joystick: a driver codelet for joysticks and gamepads supported by Linux
SerialBMI160: a driver codelet for the Bosch BMI160 IMU connected via I2C
Vicon Motion Tracking System: a wrapper codelet for a Vicon motion tracking system
PCA 9685 PWM: a driver for a pulse-width modulation device connected via I2C
Adafruit Neo Pixel LED strip: a driver for an LED strip connected via I2C
The following sections provide additional information about some of these hardware-driver codelets: