07 06 SensorData
title: 7.6 Sensor Data hideH1: true
7.6 Sensor Data
7.6.1 Overview
A3 is equipped with a variety of sensors such as cameras and IMUs. For the exact sensor locations, refer to the component description 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 one by one, this section provides a unified topic description table together with notes on intrinsic/extrinsic parameter files and usage instructions.
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 (color) h265 encoded | 1920*1536 | 10FPS |
| /hal/head_front_left_fisheye_camera/h265 | foxglove_msgs::msg::CompressedVideo | Front left fisheye camera SG3S-ISX031C-GMSL2F | Color image (color) h265 encoded | 1920*1536 | 10FPS |
| /hal/head_front_right_fisheye_camera/h265 | foxglove_msgs::msg::CompressedVideo | Front right fisheye camera SG3S-ISX031C-GMSL2F | Color image (color) h265 encoded | 1920*1536 | 10FPS |
| /hal/neck_middle_livox_lidar/imu | foxglove_msgs::msg::CompressedVideo | Neck IMU sensor | |||
| /ros2/body_drive/pelvis_imu/data | foxglove_msgs::msg::CompressedVideo | Waist IMU sensor | |||
| /ros2/body_drive/torso_imu/data | foxglove_msgs::msg::CompressedVideo | Chest IMU sensor | |||
| Before camera data on the HDU can be published normally, run the following command first: |
bash
curl -i -H 'content-type:application/json' -H 'timeout: 60000' -X POST 'http://127.0.0.1:56430/rpc/aimdk.protocol.HalCameraService/EnableCameraImgTopic' -d '{"open_dma_topic":false}'