7.6 Sensor Data
7.6 Sensor Data
7.6.1 Overview
A3 is equipped with a rich set of 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) | Color image (color) H.265 encoded | 1920*1536 | 30FPS |
| /hal/head_stereo_left_fisheye_camera/rgb | sensor_msgs::msg::Image | Left stream of head stereo camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/head_stereo_right_fisheye_camera/rgb | sensor_msgs::msg::Image | Right stream of head stereo camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/head_left_fisheye_camera/rgb | sensor_msgs::msg::Image | Left-side head fisheye camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/head_right_fisheye_camera/rgb | sensor_msgs::msg::Image | Right-side head fisheye camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/head_rear_fisheye_camera/rgb | sensor_msgs::msg::Image | Rear head fisheye camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/head_rear_fisheye_camera/rgb | sensor_msgs::msg::Image | Rear head fisheye camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/head_rear_fisheye_camera/rgb | sensor_msgs::msg::Image | Rear head fisheye camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/chest_front_d457_camera/rgb | sensor_msgs::msg::Image | Front chest depth camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/waist_front_d415_camera/rgb | sensor_msgs::msg::Image | Front waist depth camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/wrist_left_d405_camera/rgb | sensor_msgs::msg::Image | Left wrist depth camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/wrist_right_d405_camera/rgb | sensor_msgs::msg::Image | Right wrist depth camera | Color image (color) | 1920*1536 | 30FPS |
| /hal/armpit_right_fisheye_camera/rgb | sensor_msgs::msg::Image | Right armpit fisheye camera | Color image (color) | 1920*1536 | 30FPS |
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 is inconvenient to invoke. 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
ros2toenable_backendsof/hal/head_front_left_fisheye_camera/imageunderaimrt.channel.pub_topic_options, changing it from[iceoryx]to[iceoryx, ros2].- Restart the robot.