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HARDWARE / SENSORS
THE SENSOR SUITE.
One scanner that sees the room. One camera that sees colour. One IMU that knows which way is up. And encoders that count exactly how far the wheels turned. Between them, you have everything a basic racing stack needs.
Sim ↔ car parity on all four
LiDAR
30 Hz · 25 m · 720 samples
Planar laser scanner mounted up front. The primary depth source for wall follow, gap follower, and mapping.
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Camera
1080p · 120 fps · CSI
RGB camera mounted just behind the LiDAR. Drives lane keeping, sign recognition, and any RL pipeline that takes images as state.
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IMU
6-DOF · 100 Hz · MCU (microcontroller unit) fused
Accelerometer + gyro on a dedicated microcontroller. Used for orientation, tilt, and dead-reckoning between LiDAR scans.
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Encoders
Quadrature · per-wheel · MCU read
Motor-shaft encoders integrated by the MCU into a clean velocity estimate published on /odom.
Read the reference →