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[P1] RealSense D435i depth-to-costmap — obstacle avoidance from stereo depth #532

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opened 2026-03-07 09:25:43 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-07 09:25:43 -05:00
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Convert RealSense D435i depth frames into Nav2-compatible costmap obstacles. Subscribe to depth image, project to 3D pointcloud, filter ground plane, publish as /depth_scan LaserScan for Nav2 costmap. Configurable min/max range, height filter, FOV crop. 15fps minimum on Orin Nano. Integration with sensor fusion node #490.

Convert RealSense D435i depth frames into Nav2-compatible costmap obstacles. Subscribe to depth image, project to 3D pointcloud, filter ground plane, publish as /depth_scan LaserScan for Nav2 costmap. Configurable min/max range, height filter, FOV crop. 15fps minimum on Orin Nano. Integration with sensor fusion node #490.
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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#532
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