This page summarizes everything necessary to start handling sensors. It introduces the types available and a step-by-step guide of their life cycle. The specifics for every sensor can be found in the [sensors reference](ref_sensors.md).
* __What is this data?__ It varies a lot depending on the type of sensor. All the types of data are inherited from the general [carla.SensorData](python_api.md#carla.SensorData).
As with every other actor, find the blueprint and set specific attributes. This is essential when handling sensors. Their attributes will determine the results obtained. These are detailed in the [sensors reference](ref_sensors.md).
`attachment_to` and `attachment_type`, are crucial. Sensors should be attached to a parent actor, usually a vehicle, to follow it around and gather the information. The attachment type will determine how its position is updated regarding said vehicle.
The argument `callback` is a [lambda function](https://www.w3schools.com/python/python_lambda.asp). It describes what should the sensor do when data is retrieved. This must have the data retrieved as an argument.
Most sensor data objects have a function to save the information to disk. This will allow it to be used in other environments.
Sensor data differs a lot between sensor types. Take a look at the [sensors reference](ref_sensors.md) to get a detailed explanation. However, all of them are always tagged with some basic information.
<tableclass ="defTable">
<thead>
<th>Sensor data attribute</th>
<th>Type</th>
<th>Description</th>
</thead>
<tbody>
<td><code>frame</code></td>
<td>int</td>
<td>Frame number when the measurement took place.</td>
<tr>
<td><code>timestamp</code></td>
<td>double</td>
<td>Timestamp of the measurement in simulation seconds since the beginning of the episode.</td>
Take a shot of the world from their point of view. The helper class [carla.ColorConverter](python_api.md#carla.ColorConverter) will modify said image to represent different information.
<td>Modifies the controller applied to a vehicle according to safety checks. This sensor works in a different manner than the rest, and there is specific <ahref="../adv_rss">RSS documentation</a> for it. </td>
* __Gain some practise.__ It may be a good idea to try some of the code recipes provided in this documentation. Combine them with the example scripts, test new ideas.
* __Continue learning.__ There are some advanced features in CARLA: rendering options, traffic manager, the recorder, and some more. This is a great moment to learn on them.
* __Experiment freely.__ Take a look at the __References__ section of this documentation. It contains detailed information on the classes in the Python API, sensors, and much more.
