Common

Every monoDrive sensor shares the following format for common sensor properties. For additional parameters descriptions of specific sensors, see the sensor's configuration documentation.

{
  "type": string,
  "id": string,
  "listen_port": int,
  "location": {
    "x": float,
    "y": float,
    "z": float
  },
  "rotation": {
    "pitch": float,
    "yaw": float,
    "roll": float
  }
}

Configuration

• type: The values of type can be: Camera, Lidar, IMU, etc. depending on what type of sensor being configured.
• listen_port: The TCP or UDP port used by the simulator to transmit sensor data.
• location:: The location of the sensor in centimeters relative to the ego vehicle's origin to place a sensor.
  • x: The x position
  • y: The y position
  • z: The z position
• rotation: The rotation of the sensor, in degrees, relative to the orientation of the ego vehicle.
  • pitch: The pitch angle
  • yaw: The yaw angle
  • roll: The roll angle