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The required hardware for each version of Apollo can be found at the following links:
Currently, the Apollo control algorithm is configured for our default vehicle, which is a Lincoln MKZ. If you would like to use a different vehicle type, please visit this page.
In Apollo 1.5, only Velodyne 64 is supported. Users are welcome to add drivers to ROS in order to support other models of LiDAR.
Refer to the
Hardware Installation Guide 3.0
for information on all devices that are compatible with Apollo 3.0. If you are
looking for a different version of Apollo, refer to that version's Hardware
Installation guide found under docs/quickstart
Without an IMU, the localization would depend on GPS system which only updates once per second. On top of that, you wouldn't have velocity and heading information of your vehicle. That is probably not a good idea unless you have other solutions.
HDL64 provides a much denser point cloud than VLP-16 can. It gives a further detection range for obstacles. That is why we recommend it in the reference design. Whether VLP-16 works for your project, you will need to find out.
Apollo can work successfully for HDL32 Lidars. You could follow the Puck Series Guide alongwith the following modification. However, please note that you would need to change the intrinsics for HDL32 in order to avoid the following error.
First use time_sync.sh script to sync the system clock to NTP servers. Then reset UVCVideo module with clock set to realtime with root access.
rmmod UVCVideo; modprobe UVCVideo clock=realtime
More Hardware FAQs to follow.
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