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aimrt_sensor

Overview

Sensor driver module responsible for sensor initialization, parameter configuration, data acquisition, and publishing data in ROS standard message formats.

It contains four submodules:

1. hal_lidar – LiDAR
2. hal_d415 – Head depth camera
3. hal_dcw2 – Waist depth camera
4. tz_camera – Three chest-mounted cameras

Topics and Message Formats

hal_lidar

• /aima/hal/lidar/neck/pointcloud (PointCloud2.msg)
• /aima/hal/lidar/neck/imu (Imu.msg)

Notes:

1. In PointCloud2.msg, the timestamp of each point represents the time offset relative to the first point of the frame.
2. In Imu.msg, the acceleration unit is g.

hal_d415

• /aima/hal/rgbd_camera/head_front/color (All image topics use Image.msg)
• /aima/hal/rgbd_camera/head_front/depth

hal_dcw2

• /aima/hal/rgbd_camera/waist_front/color
• /aima/hal/rgbd_camera/waist_front/depth

tz_camera

• /aima/hal/fish_eye_camera/chest_left/color
• /aima/hal/fish_eye_camera/chest_right/color
• /aima/hal/camera/interactive/color