diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
index 6c1794c..f8164bd 100644
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
@@ -275,6 +275,16 @@ def generate_launch_description():
         ],
     )
 
+    # ── t=3s  LIDAR obstacle avoidance (360° safety with RPLIDAR A1M8) ────────
+    lidar_avoidance = TimerAction(
+        period=3.0,
+        actions=[
+            IncludeLaunchDescription(
+                _launch("saltybot_lidar_avoidance", "launch", "lidar_avoidance.launch.py"),
+            ),
+        ],
+    )
+
     # ── t=4s  Optional: 4× IMX219 CSI surround cameras ───────────────────────
     csi_cameras = TimerAction(
         period=4.0,
@@ -452,6 +462,9 @@ def generate_launch_description():
         sensors,
         cmd_vel_bridge,
 
+        # t=3s
+        lidar_avoidance,
+
         # t=4s
         csi_cameras,
         uwb_driver,