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feat(perception): LIDAR object clustering — segment scan into distinct objects #239

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opened 2026-03-02 12:15:47 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 12:15:47 -05:00
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Single ROS2 node. Subscribe to /scan_filtered. Euclidean clustering with configurable distance_threshold (default 0.15m) and min_points (default 3). Publish ClusterArray.msg (centroid, size, point_count per cluster) on /saltybot/lidar_clusters at 10Hz. Include unit tests.

Single ROS2 node. Subscribe to /scan_filtered. Euclidean clustering with configurable distance_threshold (default 0.15m) and min_points (default 3). Publish ClusterArray.msg (centroid, size, point_count per cluster) on /saltybot/lidar_clusters at 10Hz. 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#239
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