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Geofence boundary enforcer (Issue #298) #302

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sl-jetson merged 1 commits from sl-controls/issue-298-geofence into main 2026-03-02 21:35:27 -05:00
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sl-controls commented 2026-03-02 21:07:08 -05:00
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ROS2 geofence enforcer for polygon-based boundary enforcement.

ROS2 geofence enforcer for polygon-based boundary enforcement.
sl-controls added 1 commit 2026-03-02 21:07:09 -05:00 
Implements ROS2 geofence enforcer for SaltyBot with:
- Loads polygon geofence from params (list of x/y vertices)
- Subscribes to /odom for real-time robot position
- Point-in-polygon ray casting algorithm for boundary checking
- Publishes Bool on /saltybot/geofence_breach on boundary violation
- Optional enforcement flag for cmd_vel zeroing
- Configurable safety margin
- Includes 20+ unit tests for geometry and breach detection

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 86d798afe7 into main 2026-03-02 21:35:27 -05:00
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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#302
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