The Attached Sensors Window contains a list of all the currently-attached sensors relating to the selected vehicle. Initially, this will be empty since there are no attached sensors. The bottom of the window shows two rows of buttons which represent all the possible sensors which the user can attach.
Attached sensors appear in the list box at the top of the window along with three buttons:
Remove Sensor will remove the sensor from the configuration (and thus the list).
Edit Sensor will open the corresponding Edit Sensor Window for that specific sensor, where the user can change the properties and pose of the sensor.
Edit/Live Mode Toggle will toggle between Edit Mode and Live Mode for this sensor.
Edit/Live Mode:
If a sensor is in Edit Mode (the default), then its properties can be edited. The visualisation (if there is one for that sensor) will not display.
Switching to Live Mode will actually create the sensor and execute it. If the sensor has a corresponding visualisation, then it will display (eg LiDAR, Ultrasonic).
Live Mode is intended to give the user an idea of how the sensor will function when it is executed in a scenario. For example, suppose that a LiDAR sensor is attached then switched to Live Mode; the visualisation which then appears will indicate if the direction is correct or if part of its range is occluded by parts of the vehicle (this may be unwanted behaviour).
Note: sensors which have been switched to Live Mode cannot be edited (the edit button will become hidden), although the user can switch back to Edit Mode for that sensor at any time.
‘Add Sensor’ Buttons:
Positional Sensors:
The top row of buttons represent all the ADAS sensors which have a position. These are the Camera, LiDAR, Ultrasonic, RADAR, IMU, and GPS sensors.
The user can click on these, then the editor will switch to ‘placement mode’, where the attachment position can be chosen. The sensor will then also appear on the attached sensors list.
The sensor will be graphically represented on screen with a camera-like box. The pose of this can be altered with the world editor gimbal controls (in world or local modes).
Non-Positional Sensors:
The bottom row of buttons represent the non-positional sensors from the suite. These are the Ideal RADAR, Roads, Powertrain, and Mesh sensors. Although not true sensors in any mechanical sense, they provide a convenient way of packaging information about the vehicle and providing it to the user, and can be treated in much the same way as the true (positional) sensors.
These sensors do not depend on any position, so they do not need to be attached. Pressing these buttons will include the sensor in the configuration. Those which are included will appear in the listbox at the top of the window.
Sensor Properties Window:
The Sensor Properties Window can be opened using the relevant icon beside the sensor. This allows the user to adjust all available properties of the sensor, such as update rates, beam shape, resolution etc - depending on the type of sensor. The window will appear slighly different for each sensor type. The image below shows the window which appears for Camera sensors.
More information about each sensor type and the available properties can be found later in the documentation.
Saving/Loading Configurations:
The Attached Sensors Window also contains buttons for saving and loading configurations. Upon pushing these buttons, a file dialog will appear and the user can choose the file location.
Saved sensor configurations can be recalled later in the editor, or can be used from BeamNGPy.
