=======
Sensors
=======

Xsens MTi-630 (GPS/IMU)
=======================

+-------------------+---------------------------+
| RTK Accuracy      | 1 cm + 1 ppm              |
+-------------------+---------------------------+
| Heading Accuracy  | 0.5°                      |
+-------------------+---------------------------+
| Update Rate       | 100 Hz                    |
+-------------------+---------------------------+
| Interface         | USB Serial (115200 baud)  |
+-------------------+---------------------------+
| Linux Device      | ``/dev/ttyUSB0``          |
+-------------------+---------------------------+

**Output**: Position (lat/lon), velocity (m/s), heading (deg), RTK status.

Velodyne VLP-16 (LIDAR)
=======================

+-------------------+---------------------------+
| Channels          | 16                        |
+-------------------+---------------------------+
| Range             | 100 m                     |
+-------------------+---------------------------+
| Accuracy          | ±3 cm                     |
+-------------------+---------------------------+
| Points/sec        | ~300,000                  |
+-------------------+---------------------------+
| FOV               | 360° H × 30° V            |
+-------------------+---------------------------+
| Interface         | Ethernet UDP              |
+-------------------+---------------------------+
| IP Address        | 192.168.1.201             |
+-------------------+---------------------------+
| Data Port         | 2368                      |
+-------------------+---------------------------+

**Setup**:

.. code-block:: bash

   sudo ip addr add 192.168.1.100/24 dev eth0

Intel RealSense D435
====================

+-------------------+---------------------------+
| RGB Resolution    | 1920×1080 @ 30fps         |
+-------------------+---------------------------+
| Depth Resolution  | 1280×720 @ 30fps          |
+-------------------+---------------------------+
| Depth Range       | 0.2 - 10 m                |
+-------------------+---------------------------+
| Interface         | USB 3.0                   |
+-------------------+---------------------------+

**Verify**:

.. code-block:: bash

   rs-enumerate-devices