7.6 Sensor Data
7.6 Sensor Data
7.6.1 Overview
A3 is equipped with various sensors such as cameras and IMUs. For the specific 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 separately, this section provides a unified topic description table together with notes on calibration files and usage.
7.6.2 Sensor Topic Interfaces
| Topic Name | Message Type | Sensor Model | Data Stream | Resolution | Frame Rate |
|---|---|---|---|---|---|
| /hal/head_front_dual_fisheye_camera/h265 | foxglove_msgs::msg::CompressedVideo | Front dual fisheye camera (stereo) SG3S-ISX031C-GMSL2F | Color image H.265 encoded | 1920*1536 | 30FPS |
| /hal/head_front_left_fisheye_camera/image | sensor_msgs::msg::Image | Front left fisheye camera SG3S-ISX031C-GMSL2F | Color image | 1920*1536 | 30FPS |
| /hal/head_front_right_fisheye_camera/image | sensor_msgs::msg::Image | Front right fisheye camera SG3S-ISX031C-GMSL2F | Color image | 1920*1536 | 30FPS |
| /body_drive/pelvis_imu/data | sensor_msgs::msg::Imu | Pelvis IMU Yuanji 16460 | |||
| /body_drive/torso_imu/data | sensor_msgs::msg::Imu | Torso IMU Yuanji 16460 |
The /hal/head_front_right_fisheye_camera/image and /hal/head_front_left_fisheye_camera/image topics are published through the iceoryx backend by default, which can be inconvenient to use. The following method adds the ros2 backend by modifying the publishing backend configuration.
Using the left fisheye camera as an example:
- First, back up the corresponding configuration file on the HDU. cp /agibot/software/v0/config/hdu_camera/hdu_camera_cfg.yaml /agibot/software/v0/config/hdu_camera/hdu_camera_cfg.yaml.bd
- Then edit the file and add
ros2to theenable_backendsentry of/hal/head_front_left_fisheye_camera/imageunderaimrt.channel.pub_topic_options, changing it from[iceoryx]to[iceoryx, ros2].- Restart the robot.