Available Sensors

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

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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