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feat(perception): Obstacle height filter — reject ground-plane LIDAR points for Nav2 costmap #211

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opened 2026-03-02 11:44:55 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:44:55 -05:00
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Single ROS2 node. Subscribe to /scan (LaserScan). Use robot pitch from /saltybot/imu to compensate tilt. Filter out points below configurable ground_height (default 0.05m) and above max_height (default 1.5m). Republish filtered scan on /scan_filtered for Nav2 obstacle layer. 20Hz. Include unit tests.

Single ROS2 node. Subscribe to /scan (LaserScan). Use robot pitch from /saltybot/imu to compensate tilt. Filter out points below configurable ground_height (default 0.05m) and above max_height (default 1.5m). Republish filtered scan on /scan_filtered for Nav2 obstacle layer. 20Hz. Include unit tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#211
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