7.6 Sensor Data
7.6 Sensor Data
7.6.1 Overview
A3 is equipped with a wide range of sensors, including cameras and IMUs. For the exact sensor locations, refer to the component descriptions in the overview section of this document.
We provide ROS2 topic interfaces for raw frame data from each sensor, all using standard ROS2 message types. Instead of listing each interface individually, this section provides a unified topic description table together with notes on the intrinsic and extrinsic parameter files and their usage.
7.6.2 Sensor Topic Interfaces
| Topic Name | Message Type | Sensor Model | Data Stream | Resolution | Frame Rate |
|---|---|---|---|---|---|
| /hal/head_left_fisheye_camera/stream | foxglove_msgs::msg::CompressedVideo | Left head fisheye H265 | Color image (color) h265 encoded | 1920*1536 | 30FPS |
| /hal/head_rear_fisheye_camera/stream | foxglove_msgs::msg::CompressedVideo | Rear head fisheye H265 | Color image (color) h265 encoded | 1920*1536 | 30FPS |
| /hal/head_right_fisheye_camera/stream | foxglove_msgs::msg::CompressedVideo | Right head fisheye H265 | Color image (color) h265 encoded | 1920*1536 | 30FPS |
| /hal/head_stereo_left_fisheye_camera/stream | foxglove_msgs::msg::CompressedVideo | Left eye of head stereo camera H265 | Color image (color) h265 encoded | 2400*1800 | 30FPS |
| /hal/head_stereo_right_fisheye_camera/stream | foxglove_msgs::msg::CompressedVideo | Right eye of head stereo camera H265 | Color image (color) h265 encoded | 2400*1800 | 30FPS |
| /hal/chest_front_d457_camera/stream | foxglove_msgs::msg::CompressedVideo | Front chest depth camera H265 | Color image (color) h265 encoded | 1280*720 | 30FPS |
| /hal/waist_front_d415_camera/stream | foxglove_msgs::msg::CompressedVideo | Front waist depth camera H265 | Color image (color) h265 encoded | 1280*720 | 30FPS |
| /hal/wrist_left_d405_camera/stream | foxglove_msgs::msg::CompressedVideo | Left wrist depth camera H265 | Color image (color) h265 encoded | 848*480 | 30FPS |
| /hal/wrist_right_d405_camera/stream | foxglove_msgs::msg::CompressedVideo | Right wrist depth camera H265 | Color image (color) h265 encoded | 848*480 | 30FPS |
| /hal/head_stereo_left_fisheye_camera/rgb | sensor_msgs::msg::Image | Left slave camera of head stereo pair | Color image (color) | 2400*1800 | 30FPS |
| /hal/head_stereo_right_fisheye_camera/rgb | sensor_msgs::msg::Image | Right slave camera of head stereo pair | Color image (color) | 2400*1800 | 30FPS |
| /hal/head_left_fisheye_camera/rgb | sensor_msgs::msg::Image | Left head fisheye | Color image (color) | 1920*1536 | 30FPS |
| /hal/head_right_fisheye_camera/rgb | sensor_msgs::msg::Image | Right head fisheye | Color image (color) | 1920*1536 | 30FPS |
| /hal/head_rear_fisheye_camera/rgb | sensor_msgs::msg::Image | Rear head fisheye | Color image (color) | 1920*1536 | 30FPS |
| /hal/chest_front_d457_camera/rgb | sensor_msgs::msg::Image | Front chest depth camera | Color image (color) | 1280*720 | 30FPS |
| /hal/waist_front_d415_camera/rgb | sensor_msgs::msg::Image | Front waist depth camera | Color image (color) | 1280*720 | 30FPS |
| /hal/wrist_left_d405_camera/rgb | sensor_msgs::msg::Image | Left wrist depth camera | Color image (color) | 848*480 | 30FPS |
| /hal/wrist_right_d405_camera/rgb | sensor_msgs::msg::Image | Right wrist depth camera | Color image (color) | 848*480 | 30FPS |
| /hal/armpit_right_fisheye_camera/rgb | sensor_msgs::msg::Image | Right armpit fisheye camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/neck_middle_livox_lidar/pointcloud | sensor_msgs::msg::PointCloud2 | LiDAR | |||
| /hal/neck_middle_livox_lidar/imu | foxglove_msgs::msg::CompressedVideo | Neck IMU sensor | |||
| /ros2/body_drive/pelvis_imu/data | foxglove_msgs::msg::CompressedVideo | Waist IMU sensor | |||
| /ros2/body_drive/torso_imu/data | foxglove_msgs::msg::CompressedVideo | Chest IMU sensor |
Camera Topic Publishing Modes
| Camera | Type | Topic | Normal Mode | Data Collection Mode |
|---|---|---|---|---|
| Front head | RGB | /hal/head_front_left_fisheye_camera/image | Published | Published |
| Front head | RGB | /hal/head_front_right_fisheye_camera/image | Published | Published |
| Left stereo | RGB | /hal/head_stereo_left_fisheye_camera/rgb | Published | Published |
| Left stereo | H265 | /hal/head_stereo_left_fisheye_camera/stream | Published | Published |
| Right stereo | RGB | /hal/head_stereo_right_fisheye_camera/rgb | Published | Published |
| Right stereo | H265 | /hal/head_stereo_right_fisheye_camera/stream | Published | Published |
| Left head | RGB | /hal/head_left_fisheye_camera/rgb | Published | Published |
| Left head | H265 | /hal/head_left_fisheye_camera/stream | Published | Published |
| Right head | RGB | /hal/head_right_fisheye_camera/rgb | Published | Published |
| Right head | H265 | /hal/head_right_fisheye_camera/stream | Published | Published |
| Rear head | RGB | /hal/head_rear_fisheye_camera/rgb | Published | Published |
| Rear head | H265 | /hal/head_rear_fisheye_camera/stream | Published | Published |
| Front waist D415 | RGB | /hal/waist_front_d415_camera/rgb | Published | Not published |
| Front waist D415 | Depth | /hal/waist_front_d415_camera/depth | Published | Not published |
| Front waist D415 | CompressedDepth | /hal/waist_front_d415_camera/compressed_depth | Not published | Published |
| Front waist D415 | H265 | /hal/waist_front_d415_camera/stream | Published | Published |
| Front chest D457 | RGB | /hal/chest_front_d457_camera/rgb | Published | Not published |
| Front chest D457 | Depth | /hal/chest_front_d457_camera/depth | Published | Not published |
| Front chest D457 | CompressedDepth | /hal/chest_front_d457_camera/compressed_depth | Not published | Published |
| Front chest D457 | H265 | /hal/chest_front_d457_camera/stream | Published | Published |
| Left wrist D405 | RGB | /hal/wrist_left_d405_camera/rgb | Published | Not published |
| Left wrist D405 | Depth | /hal/wrist_left_d405_camera/depth | Published | Not published |
| Left wrist D405 | CompressedDepth | /hal/wrist_left_d405_camera/compressed_depth | Not published | Published |
| Left wrist D405 | H265 | /hal/wrist_left_d405_camera/stream | Published | Published |
| Right wrist D405 | RGB | /hal/wrist_right_d405_camera/rgb | Published | Not published |
| Right wrist D405 | Depth | /hal/wrist_right_d405_camera/depth | Published | Not published |
| Right wrist D405 | CompressedDepth | /hal/wrist_right_d405_camera/compressed_depth | Not published | Published |
| Right wrist D405 | H265 | /hal/wrist_right_d405_camera/stream | Published | Published |
| Right armpit fisheye | RGB | /hal/armpit_right_fisheye_camera/rgb | Published | Not published |
| Right armpit fisheye | H265 | /hal/armpit_right_fisheye_camera/stream | Published | Published |
Depth camera topics are published through the iceoryx backend by default, which can make them inconvenient to access. The following method adds the ros2 backend to their publishing configuration.
Using /hal/chest_front_d457_camera/stream as an example:
- First, back up the corresponding configuration file on the ADU cp /agibot/software/v0/config/hal_depth_camera/hal_depth_camera_config.yaml /agibot/software/v0/config/hal_depth_camera/hal_depth_camera_config.yaml.bd
- Then edit the file and add
ros2toenable_backendsfor/hal/chest_front_d457_camera/streamunderaimrt.channel.pub_topic_options, changing it from[iceoryx]to[iceoryx, ros2]- Restart the robot