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feat(perception): dynamic obstacle velocity estimator — track moving objects and predict trajectories #326

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opened 2026-03-03 00:45:50 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-03 00:45:50 -05:00
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Create a ROS2 node that subscribes to /saltybot/lidar_clusters (MarkerArray from LIDAR clustering) and tracks cluster centroids over time. Compute velocity vectors for each cluster using a simple Kalman filter. Publish /saltybot/obstacle_velocities (custom ObstacleVelocity msg array with cluster_id, vx, vy, speed, heading). Predict positions 1-3 seconds ahead for collision avoidance. Include tests.

Create a ROS2 node that subscribes to /saltybot/lidar_clusters (MarkerArray from LIDAR clustering) and tracks cluster centroids over time. Compute velocity vectors for each cluster using a simple Kalman filter. Publish /saltybot/obstacle_velocities (custom ObstacleVelocity msg array with cluster_id, vx, vy, speed, heading). Predict positions 1-3 seconds ahead for collision avoidance. Include 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#326
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