# Available Sensors

The vehicle has a multitude of different sensors available for you to garner data from. This page serves as an outline of all of them and their capabilities.

The vehicle sensor transforms are a hierarchical set of measurements used to calculate the exact position of our sensors relative to the vehicle. To give an example, the base_link transform is the root transform for all vehicle components. If you wanted the exact position of a lidar_2, it would be the point (x, y, z) in the coordinate frame of base_link. For more information on how transforms work in ROS, see here The transform hierarchy looks like this:

base_link
├── base_footprint
│ └── base_footprint_normal
├── lidar_2
│ ├── lidar_1
│ ├── lidar_3
│ ├── lidar_4
│ ├── lidar_5
│ └── os1_sensor
├── radar_1
├── radar_2
├── radar_3
├── radar_4
├── radar_5
├── radar_6
├── side_left_cam_mount
│ └── side_left_cam_mount_adjust
│ └── side_left_cam
├── side_right_cam_mount
│ └── side_right_cam_mount_adjust
│ └── side_right_cam
└── imu_yost

Each transform is a list of 7 floats:

• The first three fields are the position (x, y, z) in meters.
• The next 4 fields are the rotation (x, y, z, w) representing a quaternion.

All transforms are accessible by either the /tf or /tf_static topics when running rosbags or when running on the vehicle.