2.5 Key Sensor Specifications

List of key sensors installed on AntBot and their coordinates relative to base_link.

Key Sensor Configuration

Sensor	Qty	Connection	Notes
3D LiDAR	1	Ethernet	360° 3D point cloud
2D LiDAR	2	USB	Front + Rear obstacle detection
RGB-D Camera	1	USB	Color + Depth
Mono Camera	4	V4L2	Front 3 + Rear 1
IMU	1	USB	6-axis (accel + gyro)
GNSS	1	USB	GPS receiver

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Sensor Coordinates

• Position: mm
• Angle: degree

Camera

Sensor	Position	X	Y	Z	Roll	Pitch	Yaw
Mono Camera	LEFT	260.000	254.770	587.500	0	0	90
Mono Camera	CENTER	358.070	0	587.500	0	0	0
Mono Camera	RIGHT	260.000	-254.770	587.500	0	0	-90
Mono Camera	BACK	-376.690	0	299.000	0	0	180
RGB-D Camera	CENTER	348.162	47.500	526.484	0	30	0

LiDAR

Sensor	Position	X	Y	Z	Roll	Pitch	Yaw
2D LiDAR	FRONT	325.000	0	255.000	0	180	0
2D LiDAR	BACK	-325.000	0	255.000	180	0	0
3D LiDAR	FRONT	225.332	0	724.904	0	10	0

Other Sensors

Sensor	X	Y	Z	Roll	Pitch	Yaw
IMU	240.000	6.75	390.200	0	0	180
GNSS	202.600	-128.000	660.000	0	0	180

Note

To check these coordinates in the URDF, refer to antbot_description/urdf/antbot.xacro. For ROS topics published by each sensor, see Key ROS Topics/Services.