# Available Sensors

Source of truth: `vehicle/src/bolt2_launch/cfg/sensors.yaml` in bolt-ros2.

<iframe src="../../static/vehicle/bolt_3d.html" width="100%" height="520" style="border:0; border-radius:6px;"></iframe>

[Open the 3D view full screen](~/static/vehicle/bolt_3d.html)

## Lidars

| Name | Model | Mount | IP | Topic |
|---|---|---|---|---|
| `vlp32c_202` | Velodyne VLP-32C | Front center | 192.168.1.202 | `/sensors/lidar/vlp32c_202/velodyne_points` |
| `vlp16_200` | Velodyne VLP-16 | Rear right, tilted down | 192.168.1.200 | `/sensors/lidar/vlp16_200/velodyne_points` |
| `vlp16_201` | Velodyne VLP-16 | Rear left, tilted down | 192.168.1.201 | `/sensors/lidar/vlp16_201/velodyne_points` |
| `ouster` | Ouster OS1-64 | Rear left of center | 192.168.1.205 | `/sensors/lidar/ouster/points` |

## Cameras

| Name | Model | Mount | IP | Topic |
|---|---|---|---|---|
| `top_left` | FLIR Blackfly BFLY-PGE-31S4C | Roof, 30° left | 192.168.1.237 | `/sensors/cameras/top_left/image_raw` |
| `top_mid` | FLIR Blackfly BFLY-PGE-31S4C | Roof, forward, upside down | 192.168.1.238 | `/sensors/cameras/top_mid/image_raw` |
| `top_right` | FLIR Blackfly BFLY-PGE-31S4C | Roof, 30° right | 192.168.1.239 | `/sensors/cameras/top_right/image_raw` |
| `low_left` | FLIR 720x540, fisheye | Left side | 192.168.1.232 | `/sensors/cameras/low_left/image_raw` |
| `low_mid` | FLIR 720x540 | Front | 192.168.1.233 | `/sensors/cameras/low_mid/image_raw` |
| `low_right` | FLIR 720x540, fisheye | Right side | 192.168.1.234 | `/sensors/cameras/low_right/image_raw` |

## Radars

Continental ARS430.

| Name | Facing | Topic |
|---|---|---|
| `radar_front` | Front | `/sensors/radar/radar_front/points` |
| `radar_front_left` | Front left, 60° | `/sensors/radar/radar_front_left/points` |
| `radar_front_right` | Front right, -60° | `/sensors/radar/radar_front_right/points` |
| `radar_left` | Left, 80° | `/sensors/radar/radar_left/points` |
| `radar_right` | Right, -80° | `/sensors/radar/radar_right/points` |
| `radar_rear` | Rear | `/sensors/radar/radar_rear/points` |

## GNSS and IMUs

| Name | Model | Topic |
|---|---|---|
| `gnss` | Swift Navigation Piksi Multi (192.168.1.221) | `/sensors/gnss/navsatfix` |
| `imu` | Piksi built-in IMU | `/sensors/gnss/imu` |
| `imu_yost` | Yost Labs 3-Space LX (USB) | `/sensors/imu/yost/imu` |

## Frames

Each sensor's frame is its name, under `base_link`. Cameras also have `<name>_optical`.

| ROS 1 frame | Current frame |
|---|---|
| `lidar_1` | `vlp16_201` |
| `lidar_2` | `vlp32c_202` |
| `lidar_5` | `vlp16_200` |
| `os1_sensor` | `ouster` |
| `radar_1` | `radar_front_right` |
| `radar_2` | `radar_front` |
| `radar_3` | `radar_front_left` |
| `radar_4` | `radar_left` |
| `radar_5` | `radar_rear` |
| `radar_6` | `radar_right` |

## Photos

<figure align="middle">
    <img src="~/static/vehicle/right_camera.jpg" alt="Top Right Camera" height="600" width="300">
    <img src="~/static/vehicle/center_camera_and_velodyne.jpg" alt="Top Center Camera and VLP-32C" height="600" width="300">
    <img src="~/static/vehicle/left_camera_and_ouster.jpg" alt="Top Left Camera and Ouster" height="600" width="300">
    <figcaption>Top cameras, VLP-32C and Ouster</figcaption>
</figure>

<figure align="middle">
    <img src="~/static/vehicle/right_side_camera.jpg" alt="Right Side Camera" height="600" width="300">
    <img src="~/static/vehicle/front_radar_and_ground_camera.jpg" alt="Front Camera and Radar" height="600" width="300">
    <img src="~/static/vehicle/left_side_camera.jpg" alt="Left Side Camera" height="600" width="300">
    <figcaption>Low cameras and front radar</figcaption>
</figure>

<figure align="middle">
    <img src="~/static/vehicle/front_left_radar.jpg" alt="Front Left Radar" height="600" width="300">
    <img src="~/static/vehicle/front_right_radar.jpg" alt="Front Right Radar" height="600" width="300">
    <img src="~/static/vehicle/back_left_radar.jpg" alt="Back Left Radar" height="600" width="300">
    <img src="~/static/vehicle/back_radar.jpg" alt="Rear Radar" height="600" width="300">
    <img src="~/static/vehicle/back_right_radar.jpg" alt="Back Right Radar" height="600" width="300">
    <figcaption>Corner and rear radars</figcaption>
</figure>