Location of Sensors

The CAT Vehicle has several sensors on board, and this page documents where they are located. Each of the sub-bullets tells the topic in the /catvehicle namespace on which these sensors publishes

Camera sensors

• Point Grey FlyCapture cameras.
  • camera_left
  • camera_right
• Point Grey Bumblebee camera.
  • (TBD)

Laser sensors

• SICK laser
  • front_laser_points
• Velodyne 3D scanning lidar
  • lidar_points

Localization sensors

• GPS SPAN-CPT GPS/INS
• CAN bus -- bridged data from the Torc ByWireXGV automation