4.2 Sensor Input

The following data is made available to teams:

• 4 Optical cameras

• 1 Lidar

• GPS Position

• Vessel Heading

• Vessel velocities in 3 degrees from freedom

Standard system setup of optical cameras:

• Field of view: 100 degrees

• Framerate: 3 frames per second

• Resolution: 1920x1080

The optical cameras are published in ROS as /optical messages. The full topic names are:

• /optical/Front/image_raw

• /optical/Starboard/image_raw

• /optical/Back/image_raw

• /optical/Port/image_raw

If the simulation is running slowly, the image resolution can be lowered by increasing the ‘Image Crop’ parameter in each camera object in the Unity editor.