(supported_hw)=

# Supported Peripherals

Robot Vision & Control Framework is developed, tested and validated with a limited set of peripherals.

## Supported Sensors

### Tier 1 Sensors

Preferred sensors, utilized for use-case examples, tested & validated

- RealSense™ [D400 Family](https://www.realsenseai.com/stereo-depth-cameras/) cameras

### Tier 2 Sensors

Sensors occasionally used and tested

### Tier 3 Sensors

Sensors expected to function, not owned, not tested

- Every 2D camera with an existing ROS driver providing `sensor_msgs/Image` image stream **and** `sensor_msgs/CameraInfo` calibration data (for use cases only requiring 2D image data)
- Every 3D camera with existing ROS2 driver providing `sensor_msgs/Image` image stream **and** `sensor_msgs::msg::PointCloud2` pointcloud scene data

## Supported Robots & Actuators

### Tier 1 Actuators

Preferred robot or actuator, utilized for use-case examples, and tested and validated:

- Universal Robots UR5e cobot ([ROS 2 Control](https://control.ros.org/master/index.html) driver)

### Tier 2 Actuators

Robot/Actuator occasionally used and tested

### Tier 3 Actuators

Robot/Actuator expected to function, not owned, not tested

- Every manipulator with existing ROS2 drivers with [MoveIt 2](https://moveit.picknik.ai/main/index.html) support and urdf (or xacro) robot description