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Text Elements

BoundingBox2D BoundingBox3D Classification2D Classification3D Detection2D Detection2DArray Detection3D Detection3DArray ObjectHypothesis ObjectHypothesisWithPose VisionInfo

vision_msgs

camera_front_left

For Cameras

Topic Names

/<frame_name>/image_rect_color

For Cameras

camera_front_left_optical

camera_front_right

camera_front_optical

lidar

For LiDARs

*Need to double check how the sensors provide the raw output

/<frame_name>/pointclouds (TBD)

Two frames we’re working with:

• Canonical Frame (x forward, y left, z up)
• Optical Frame (z forward, x right, y down)
• _optical means the frame is optical. Else assume canonical

REP 103

REP 105

Conventions

Frame Names

For Radars

?

Message Types

Avoid inventing your own message types as much as possible.