<library path="saltybot_segmentation_costmap">
  <class
    name="saltybot_segmentation_costmap::SegmentationCostmapLayer"
    type="saltybot_segmentation_costmap::SegmentationCostmapLayer"
    base_class_type="nav2_costmap_2d::Layer">
    <description>
      Nav2 costmap layer that merges semantic traversability scores from
      /segmentation/costmap (published by sidewalk_seg_node) into the
      Nav2 local_costmap. Roads are high-cost, obstacles are lethal,
      sidewalks are free.
    </description>
  </class>
</library>
