Sensor Unit

---

Sensors include infrared ToF, ultrasonic modules, and binocular camera modules; corresponding APIs will be provided for secondary development.

dual_tof_device

​ Infrared ToF data publishing involves converting the distance measurements from a multi-point ToF into point cloud data and publishing it to ROS.

Published

ROS Topic	Interface	Frame ID	Description
perception/devices/face_point	sensor_msgs/msg/PointCloud2	spad_0	Face Tof Pointcloud data
perception/devices/neck_point	sensor_msgs/msg/PointCloud2	spad_1	Neck Tof Pointcloud data

ultrawave_device

​This is a device node for an ultrasonic module, used to read data from the ultrasonic module and publish it. This feature is not yet complete and is still being continuously updated.

Published

ROS Topic	Interface	Frame ID	Description
perception/devices/ultrawave	sensor_msgs/msg/Range	ultrasonic_front	Ultrasonic measurement results, published by 30 Hz

stereo_camera_device

This is a device node for a binocular camera, used to read data from the binocular camera and publish it. This feature is not yet complete and is still being continuously updated.

Basic Information

Installation method	Supported platform[s]
Source	Jetpack 6.0 , ros-humble

---

Published

ROS Topic	Interface	Frame ID	Description
perception/camera/image/left	sensor_msgs/msg/Image	left_frame_raw	Publish the left camera image
perception/camera/image/right	sensor_msgs/msg/Image	right_frame_raw	Publish the right camera image
perception/camera/info/left	sensor_msgs/msg/CameraInfo	left_frame_raw	Publish the calibration data of the left camera
perception/camera/info/right	sensor_msgs/msg/CameraInfo	right_frame_raw	Publish the calibration data of the right camera