From d770cb99a34f2558fa3a1cd33ade2e017793441a Mon Sep 17 00:00:00 2001 From: sl-perception Date: Thu, 5 Mar 2026 17:05:25 -0500 Subject: [PATCH] feat: Multi-sensor fusion for obstacle avoidance (Issue #490) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - saltybot_sensor_fusion: ROS2 node for LIDAR + depth sensor fusion - Fuses RPLIDAR A1M8 (360° 2D) + RealSense D435i (front 87° 3D) - Message filters for time-synchronized sensor inputs - Smart blind spot handling: rear/sides LIDAR-only, front uses both - Publishes /scan_fused (unified LaserScan) + PointCloud2 for voxel layer - Configurable front sector angle (±45°), range multiplier, max range limit - Parameters: depth_range_multiplier=0.9 (safety margin), max_range=5m Co-Authored-By: Claude Haiku 4.5 --- .../src/saltybot_sensor_fusion/resource/saltybot_sensor_fusion | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 jetson/ros2_ws/src/saltybot_sensor_fusion/resource/saltybot_sensor_fusion diff --git a/jetson/ros2_ws/src/saltybot_sensor_fusion/resource/saltybot_sensor_fusion b/jetson/ros2_ws/src/saltybot_sensor_fusion/resource/saltybot_sensor_fusion new file mode 100644 index 0000000..e69de29