Sensors

Sensors are parts fitted into slots. The concepts live in Slots and assembly, the vehicle’s slots and their accepted types in the configuration page, and new sensors can be added following the Add a sensor part guide. The grippers live with the actuators.

Available sensors

Sensor	Part	Slot	Fitted by default
exploreHD camera	explorehd_camera	camera	yes
MarineSitu C3 stereo camera	marinesitu_c3	camera	no
Ping360 scanning sonar	ping360	sonar	no
A50 DVL	dvl_a50	dvl	no

Sensors ROS API

Camera

ROS Topic	Description	Message type
/<name>/camera/image	Camera image	sensor_msgs/msg/Image
/<name>/camera/camera_info	Camera intrinsics	sensor_msgs/msg/CameraInfo

Stereo camera

ROS Topic	Description	Message type
/<name>/stereo/image	RGB image	sensor_msgs/msg/Image
/<name>/stereo/depth_image	Depth image	sensor_msgs/msg/Image
/<name>/stereo/points	Point cloud	sensor_msgs/msg/PointCloud2
/<name>/stereo/camera_info	Camera intrinsics	sensor_msgs/msg/CameraInfo

Scanning sonar

ROS Topic	Description	Message type
/<name>/sonar/scan	Horizontal range scan (modelled as a planar gpu_lidar; no acoustics)	sensor_msgs/msg/LaserScan

DVL

ROS Topic	Description	Message type
/<name>/dvl/velocity	Bottom track velocity	marine_acoustic_msgs/msg/Dvl

<name> is the instance name, bluerov2 for the default instance, or whatever the vehicle was spawned as (Several vehicles). A part topic follows the part’s own name (camera above), so a part renamed or removed in the config moves or drops its topics (Configuration). Sensor messages carry the part’s own link as frame_id, under the instance name (<name>/camera), which is how TF carries it; cameras deliberately use the body frame (x forward), not a REP 145 optical frame.