| DWE exploreHD cameras | Video | USB, /dev/video* | fish_cam | Common |
| Blue Robotics Bar02 (MS5837-02BA) | Depth (m), water temp (°C) | I2C bus 1 | bar02_pub | Research |
| Adafruit BNO055 9-axis IMU | Orientation, internal temp | I2C, 0x28 | imu_publisher, internal_temp/ script | Common |
| ADS1115 ADC | pH, TDS, turbidity probe voltages | I2C, 0x48 | sensor_bringup, ph_pub | Research |
| Blue Robotics Sonoptix Echo | Imaging sonar | Ethernet (RTSP) | sonoptix_sonar (submodule) | Research |
| Thrusters (6) | Propulsion | Pico W, USB serial | controller_node (drivetrain_node); see Driving the robot | |
| Servos | Actuation | Pico W, USB serial | controller_node (auxiliary_control); see Auxiliary control | |