Applies to v0.1.0.

Sensors

The simulated car carries the same sensors the real one does (a camera, LiDAR, an IMU, and GNSS), so whatever you build against the simulator meets the same inputs on the real platform.

This page shows the workflow every sensor shares. The pages after it cover each sensor's own settings.

Two words you'll see on every page

• Intrinsics — how the sensor itself behaves: resolution, field of view, frame rate. Properties of the device.
• Extrinsics — where the sensor sits on the car and which way it points. Position (X/Y/Z, in metres) and orientation (Roll/Pitch/Yaw, in degrees), relative to the car.

Add a sensor: the same five steps every time

1. In the simulation, open Sensor Setup from the menu bar.
2. In Sensor Setting, pick a Sensor Type (Camera, 2D LiDAR, 3D LiDAR, IMU, GNSS), then a device under Sensor Selection.
3. Place it. The new sensor appears on the car and in the Sensor List tab.
4. Adjust its settings. Each settings group is a collapsible section; click a header to open it. LiDARs have a Default button that restores stock values.
5. Read the Topic field. That is the name this sensor publishes under, on every transport. It is shown read-only. Click it to select and copy. Renaming the sensor renames the topic; the field itself is not editable, so the name can never drift.

Check it is alive

The quickest look is Foxglove (built in, port 8765, see Visualisation): the sensor's topic appears in the channel list the moment it exists. Over ROS, ros2 topic list shows the same names.

Where the sensor sits matters

Extrinsics are not cosmetic. The LiDAR's mounting height decides what it can see over; the camera's pitch decides how much road is in frame; and for GNSS the mounting point is the measurement. Set them to match your real car's mounting and the simulated data lines up with the bench.