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[P2] Multi-sensor fusion for obstacle avoidance — merge LIDAR + depth #490

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opened 2026-03-05 17:03:03 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 17:03:03 -05:00
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Fuse RPLIDAR A1M8 (/scan) and RealSense D435i depth (/depth_scan) into unified obstacle layer. RPLIDAR covers 360deg 2D, depth covers front 87deg 3D. Merge into single /scan_fused topic. Handle blind spots (rear/sides use LIDAR only, front uses both). Publish fused PointCloud2 for 3D costmap voxel layer.

Fuse RPLIDAR A1M8 (/scan) and RealSense D435i depth (/depth_scan) into unified obstacle layer. RPLIDAR covers 360deg 2D, depth covers front 87deg 3D. Merge into single /scan_fused topic. Handle blind spots (rear/sides use LIDAR only, front uses both). Publish fused PointCloud2 for 3D costmap voxel layer.
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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#490
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