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[P1] Obstacle memory map — persistent hazard zones from LIDAR history #453

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opened 2026-03-05 09:17:41 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 09:17:41 -05:00
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Goal

Build a persistent map of known obstacles/hazards from LIDAR data across sessions.

Requirements

  • ROS2 node subscribing to /scan and /odom
  • Accumulate obstacle detections into a 2D grid map (10cm resolution)
  • Persist map to /home/seb/saltybot-data/obstacle_map.yaml between sessions
  • Mark cells: free, obstacle, unknown, hazard (repeated obstacle = permanent hazard)
  • Hazard zones: if obstacle detected in same cell 3+ times across sessions, mark as permanent
  • Publish /saltybot/obstacle_map (OccupancyGrid) for Nav2 costmap integration
  • Visualization: overlay hazard zones on dashboard map panel
  • Auto-decay: reduce confidence of unvisited cells over time (30 day half-life)
  • Configurable grid size, resolution, decay rate
## Goal Build a persistent map of known obstacles/hazards from LIDAR data across sessions. ## Requirements - ROS2 node subscribing to /scan and /odom - Accumulate obstacle detections into a 2D grid map (10cm resolution) - Persist map to /home/seb/saltybot-data/obstacle_map.yaml between sessions - Mark cells: free, obstacle, unknown, hazard (repeated obstacle = permanent hazard) - Hazard zones: if obstacle detected in same cell 3+ times across sessions, mark as permanent - Publish /saltybot/obstacle_map (OccupancyGrid) for Nav2 costmap integration - Visualization: overlay hazard zones on dashboard map panel - Auto-decay: reduce confidence of unvisited cells over time (30 day half-life) - Configurable grid size, resolution, decay rate
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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#453
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