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.