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Hardware

Your car is composed of several hardware components that work together to enable autonomous driving. This section provides an overview of the main hardware components, their functions, and how they are integrated into the car.

Main Hardware Components

Read more about each of these components in their respective documentation pages.

  • Car Bring-Up: Step-by-step guide to flashing the Orin, checking out the workspace, and preparing a new car for its first run.

  • NVIDIA Jetson Orin Nano: The main compute platform responsible for running ROS 2, processing sensor data, and executing autonomy stacks, with setup and maintenance notes.

  • HDMI Display: Connect and configure the HDMI display for monitoring status, viewing camera feeds, and debugging software directly on the car.

  • Power System: Components of the battery, regulation, and distribution subsystem that deliver stable power throughout the vehicle.

  • Hokuyo LiDAR: Details on the UST-10LX 270-degree single-line laser scanner, including wiring, configuration, and usage for mapping and localization.

  • Joystick: Instructions for pairing and configuring the PS4 joystick for teleoperation, testing, and manual control.

  • MPU6050 IMU: Overview of the 6-axis accelerometer and gyroscope, including mounting, calibration, and interpreting orientation data.

  • Raspberry Pi Camera: Configuration steps and best practices for the Sony IMX219 module used for vision-based perception.

  • VESC Motor Driver: Guide to configuring the motor controller for precise throttle and steering actuation.