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RealSense depth-based obstacle detection node #611

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opened 2026-03-15 10:02:45 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-15 10:02:45 -04:00
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Create a ROS2 node that processes RealSense depth images to detect obstacles. Segment the depth image into ground plane vs obstacles using RANSAC plane fitting. Publish obstacle centroids as visualization_msgs/MarkerArray on /saltybot/obstacles. Also publish a PointCloud2 of non-ground points on /saltybot/obstacles/pointcloud. Integrate with safety_zone: if obstacle detected within DANGER zone, publish to /saltybot/safety_zone/obstacle_alert. Config yaml for ground plane height, min obstacle size, detection range.

Create a ROS2 node that processes RealSense depth images to detect obstacles. Segment the depth image into ground plane vs obstacles using RANSAC plane fitting. Publish obstacle centroids as visualization_msgs/MarkerArray on /saltybot/obstacles. Also publish a PointCloud2 of non-ground points on /saltybot/obstacles/pointcloud. Integrate with safety_zone: if obstacle detected within DANGER zone, publish to /saltybot/safety_zone/obstacle_alert. Config yaml for ground plane height, min obstacle size, detection range.
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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#611
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