we (AutoCore.ai) released reference hardware design named PCU.
detail document of this device at https://github.com/autocore-ai/autocore_pcu_doc and we are updating continually.
about software. there several parts:
- Open Source Software
- FreeRTOS and HAL for MCU, code at https://github.com/autocore-ai/pcu_mcu_hal
- uboot/BSP/kernel for MPU, code at https://gitlab.com/autocore_publish/mpu
- realtime kernel with PREEMPT_RT
- support google edge-tpu accelerator by miniPCIE/M.2 interface
- A modified version of Autoware.ai 1.13 with some patches for running on PCU. https://gitlab.com/autocore_publish/autoware.ai it’s an draft version, we will merge more code from internal branch
- some performance related changes of NDT/Ray ground filter/Euclidean clustering
- traffic light detector and vision detector demo code for edge-tpu
- multi lidar fusion support robosense P3 (merge later)
- will raise MR to autoware.ai
- running on prebuild image of MPU (below for detail)
- vector map editor https://github.com/autocore-ai/MapToolbox
- Free software these software are not latest version, we will update every month
- Light weight simulator https://github.com/autocore-ai/autocore_pcu_doc/blob/master/docs/Simulation.md
- running on windows 10
- direct connect to ROS Core
- design for Autoware and from scratch
- provide PCD map and Vector map for default map
- MCU prebuild image https://github.com/autocore-ai/autocore_pcu_doc/blob/master/docs/Resource_download.md
- support XCRE-DDS
- UART GPS Driver
- Xsens IMU Driver for UART/CAN
- Radar(Continental 408) Driver
- NTP/PTP server/master
- safety features
- MPU prebuild image https://github.com/autocore-ai/autocore_pcu_doc/blob/master/docs/Resource_download.md
- preinstall ROS/ROS2
- preinstall XCRE-DDS Agent (access MCU data by ROS2 topic)
- preinstall Lidar driver of Robosense and Velodyne
- modified version PCL (octree based Euclidean clustering) (open sourced code inside)
- latest version Eigen for NEON support
- start VNC by default.
- and so on…
- MPU SDK Package (dpkg) https://github.com/autocore-ai/autocore_pcu_doc/blob/master/docs/Resource_download.md
- Multi sensor fused localization by EKF/UKF.
- Depth based Lidar Object detector
- Radar based localization (particle filtering based) and perception software
- Multi Lidar fusion (support Robosense P3)
- Also some features from Autoware.ai like NDT
- More perception and planning/control features optimized for embedded
- A runtime software to support lifetime management/system monitoring and safety features
- Front end tool https://github.com/autocore-ai/autocore_pcu_doc/blob/master/docs/Resource_download.md
- based on AutoCore runtime software modules
- for using/debug/tuning and visualize
- support Windows10/Linux/Android tablet/iPad
- Light weight simulator https://github.com/autocore-ai/autocore_pcu_doc/blob/master/docs/Simulation.md
because this weekend is Chinese new year, we will continue update document and software/code after holiday, any questions, please raise an issue in github.
like vector map editor we open source last year, we hope our open source software and free software will help more autoware users.
My email is cheng.chen@autocore.ai. Please contact me for any questions.