Supported peripherals
*********************

|rvc_full| 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| |D4xx| 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 :

* |UR5e| cobot (|ros2_control| 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 |moveit2| support and urdf (or xacro) robot description