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feat: 360 obstacle avoidance with RPLIDAR (Issue #364) #396

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sl-jetson merged 1 commits from sl-firmware/issue-364-obstacle-avoidance into main 2026-03-04 12:39:47 -05:00
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sl-jetson commented 2026-03-04 12:39:38 -05:00
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RPLIDAR A1M8 costmap + emergency stop at 0.5m + speed-dependent safety zones.

RPLIDAR A1M8 costmap + emergency stop at 0.5m + speed-dependent safety zones.
sl-jetson added 1 commit 2026-03-04 12:39:38 -05:00 
Adds saltybot_lidar_avoidance node to the launch sequence at t=3s.
The RPLIDAR A1M8 node was already fully implemented with:
- Emergency stop if obstacle detected within 0.5m
- Speed-dependent safety zones (0.6m @ 0 m/s → 3.0m @ 5.56 m/s)
- Forward scanning window (±30° cone)
- Debounced obstacle detection (2-frame debounce)
- Publishes /cmd_vel_safe with filtered velocity commands

Integrates seamlessly with Nav2 stack and cmd_vel_mux multiplexer.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 858ae1e7b9 into main 2026-03-04 12:39:47 -05:00
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Reference: seb/saltylab-firmware#396
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