Welcome to Henry’s documentation!

Henry is a research platform vehicle at the Autonomy and Mobility laboratory at Aalto University.

Contents

• System diagrams
  • System
  • Power diagram
  • Signal diagram
  • CAN bus
• Cameras
  • Usage
    • Viewing the camera feed
    • Published topics
    • Configuring camera settings
    • Troubleshooting
  • Installation
• Lidar
  • Usage
    • Configuring parameters
  • Installation
  • Resources
• GNSS
  • Installation
  • Usage
    • Topic information
  • Resources
• Platform usage
  • Overview
  • First time setup
  • Making changes to the code
  • Launch files
    • Master launch file
  • Configuration files
  • Rviz
    • Rviz text overlays
  • Recording data

See Platform usage for how to start everything up and make modifications to the launch configurations.

The individual pages for each sensor have more detailed information on what certain parameters do and how the sensors are set up.

The system page has diagrams of the connections and power setup.

Vehicle

• Ford Focus (IV) 2019 - 1.5L Diesel, 88 kW

Sensor setup

For a detailed diagram of the setup with connections, see system diagram.

• Camera

  • Blackfly S BFS-U3-50S5C

  • Resolution: 2448 x 2048

• Can-bus connections to 4 different can networks

  • Possibility to be connected into 2 different can busses simultaneously

  • Peak can-to-ethernet interface

• Lidar

  • Velodyne Ultra Puck 80-VLP-32C-B

  • Channels: 32

  • Range: 200m

  • Field of View

    • horizontal: 360°, vertical: 40° (-25° to +15 °)

  • 3D LiDAR Data Points Generated:

    • Single Return Mode: ~600,000 points per second

    • Dual Return Mode: ~1,200,000 points per second

• GNSS and IMU

  • PwrPak7D E2, with dual antenna installation (Tallysman VSP6337L)

  • DGPS corrected (RTK capable device)

  • Integrated inertial measure unit

Software

• Ubuntu 22.04

• ROS2 Humble

Coordinate frames

TODO: Coordinate frames (TF)