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RPLIDAR obstacle ring detector for 360-degree safety zone #575

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opened 2026-03-14 11:51:19 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 11:51:19 -04:00
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Implement ROS2 node that processes RPLIDAR scan data into a safety zone ring.Requirements:- Subscribe to /scan (LaserScan from RPLIDAR A1)- Define 3 concentric zones: DANGER (<0.3m), WARN (0.3-1.0m), CLEAR (>1.0m)- Publish /saltybot/safety_zone (custom msg with zone per 10-degree sector)- Emergency stop trigger when DANGER zone breached in forward arc- Publish /cmd_vel override (zero velocity) on e-stop- Configurable zone radii and sector resolution- Latching e-stop with manual clear via serviceDeliverables:- ROS2 Python package: saltybot_safety_zone- Launch file + params YAML- Integration with Nav2 costmapAssigned to: sl-perception

Implement ROS2 node that processes RPLIDAR scan data into a safety zone ring.**Requirements:**- Subscribe to /scan (LaserScan from RPLIDAR A1)- Define 3 concentric zones: DANGER (<0.3m), WARN (0.3-1.0m), CLEAR (>1.0m)- Publish /saltybot/safety_zone (custom msg with zone per 10-degree sector)- Emergency stop trigger when DANGER zone breached in forward arc- Publish /cmd_vel override (zero velocity) on e-stop- Configurable zone radii and sector resolution- Latching e-stop with manual clear via service**Deliverables:**- ROS2 Python package: saltybot_safety_zone- Launch file + params YAML- Integration with Nav2 costmapAssigned to: sl-perception
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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#575
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