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Every AirGen robot carries a sensor suite you read through ordinary method calls. Each sensor takes a name, so a robot can carry several of the same kind — the defaults below are what a stock vehicle ships with.

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Cameras

Images come back through the shared getImage() method, which every GRID robot has, simulated or physical:
Cameras are configured per session — resolution, field of view, and stream type (RGB, depth, segmentation) are all set in the session configuration. See Session configuration for the camera block, including the noise overlay for testing perception against degraded video.

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Lidar

Returns a point cloud from the named lidar. Default name: front_lidar.

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IMU

Accelerometer and gyroscope readings. Default name: imu.

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GPS

Latitude, longitude, and altitude. GPS output is anchored to the world origin you set in the session configuration, so you can place a scene at real coordinates and get plausible fixes out of it. Default name: gps.

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Barometer

Air pressure and derived altitude. Default name: barometer.

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Magnetometer

Magnetic field vector, for heading estimation. Default name: magnetometer.

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Distance sensor

Single-beam range reading. Default name: front_range.

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State

Pose and velocity come through the shared robot methods rather than a sensor:
Sensor availability varies by vehicle — a ground robot has no barometer worth reading. The full method list for each class is in the AirGen robots reference.

Related topics

SensorsEnvironment ConfigROS2 CommunicationCustomizing RL TrainingThe Intelligence Grid for Physical AI