<library path="saltybot_depth_costmap">
  <class
    name="saltybot_depth_costmap::DepthCostmapLayer"
    type="saltybot_depth_costmap::DepthCostmapLayer"
    base_class_type="nav2_costmap_2d::Layer">
    <description>
      Nav2 costmap layer that converts RealSense D435i depth images into
      obstacle markings. Back-projects depth pixels to 3D, transforms to the
      costmap global frame via TF2, applies a configurable height filter
      (min_height .. max_height), marks lethal obstacles, and inflates them
      by inflation_radius within the layer. Integrates with existing Nav2
      costmap config (Issue #478).
    </description>
  </class>
</library>
