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[P0] 360 obstacle avoidance — RPLIDAR A1M8 integration #364

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opened 2026-03-03 15:06:22 -05:00 by seb · 0 comments
seb commented 2026-03-03 15:06:22 -05:00
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Goal

Real-time 360 degree obstacle detection and avoidance at up to 20km/h.

Requirements

  • RPLIDAR A1M8 on /dev/ttyUSB0, Express mode 4KHz, 12m range
  • ROS2: rplidar_ros already tested, publishes /scan (LaserScan)
  • Local costmap from LIDAR data
  • Emergency stop: any obstacle within 0.5m -> immediate halt
  • Speed-dependent safety zone: faster = larger buffer (at 20km/h minimum 3m lookahead)
  • Handle dynamic obstacles (pedestrians, cars, animals)

Hardware

  • RPLIDAR A1M8: CP210x UART, motor via DTR pin
  • 500 points/3s, range 136-2860mm tested
  • 2D only — curbs and low obstacles need depth camera fusion

Notes

  • At 20km/h = 5.5m/s, with 100ms processing latency, need minimum 1m reaction buffer
  • LIDAR is THE safety-critical sensor — prevents collisions
## Goal Real-time 360 degree obstacle detection and avoidance at up to 20km/h. ## Requirements - RPLIDAR A1M8 on /dev/ttyUSB0, Express mode 4KHz, 12m range - ROS2: rplidar_ros already tested, publishes /scan (LaserScan) - Local costmap from LIDAR data - Emergency stop: any obstacle within 0.5m -> immediate halt - Speed-dependent safety zone: faster = larger buffer (at 20km/h minimum 3m lookahead) - Handle dynamic obstacles (pedestrians, cars, animals) ## Hardware - RPLIDAR A1M8: CP210x UART, motor via DTR pin - 500 points/3s, range 136-2860mm tested - 2D only — curbs and low obstacles need depth camera fusion ## Notes - At 20km/h = 5.5m/s, with 100ms processing latency, need minimum 1m reaction buffer - LIDAR is THE safety-critical sensor — prevents collisions
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Reference: seb/saltylab-firmware#364
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