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2f4540f1d3
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feat(jetson): add dynamic obstacle tracking package (issue #176)
Implements real-time moving obstacle detection, Kalman tracking, trajectory
prediction, and Nav2 costmap integration at 10 Hz / <50ms latency:
saltybot_dynamic_obs_msgs (ament_cmake):
• TrackedObject.msg — id, PoseWithCovariance, velocity, predicted_path,
predicted_times, speed, confidence, age, hits
• MovingObjectArray.msg — TrackedObject[], active_count, tentative_count,
detector_latency_ms
saltybot_dynamic_obstacles (ament_python):
• object_detector.py — LIDAR background subtraction (EMA occupancy grid),
foreground dilation + scipy connected-component
clustering → Detection list
• kalman_tracker.py — CV Kalman filter, state [px,py,vx,vy], Joseph-form
covariance update, predict_horizon() (non-mutating)
• tracker_manager.py — up to 20 tracks, Hungarian assignment
(scipy.optimize.linear_sum_assignment), TENTATIVE→
CONFIRMED lifecycle, miss-prune
• dynamic_obs_node.py — 10 Hz timer: detect→track→publish
/saltybot/moving_objects + MarkerArray viz
• costmap_layer_node.py — predicted paths → PointCloud2 inflation smear
→ /saltybot/dynamic_obs_cloud for Nav2 ObstacleLayer
• launch/dynamic_obstacles.launch.py + config/dynamic_obstacles_params.yaml
• test/test_dynamic_obstacles.py — 27 unit tests (27/27 pass, no ROS2 needed)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 10:44:32 -05:00 |
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