Sensors and Other HardwareΒΆ

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: