seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat(bringup): LIDAR Euclidean object clustering + RViz visualisation (Issue #239) #244

Merged
sl-jetson merged 1 commits from sl-perception/issue-239-lidar-clustering into main 2026-03-02 12:46:11 -05:00
Conversation 0 Commits 1 Files Changed 4 +538

1 Commits

Author SHA1 Message Date
sl-perception
ff34f5ac43 feat(bringup): LIDAR Euclidean object clustering + RViz visualisation (Issue #239) 
Adds gap-based Euclidean distance clustering of /scan LaserScan points.
Each cluster is published as a labelled semi-transparent CUBE + TEXT marker
in /saltybot/lidar_clusters (MarkerArray), sorted nearest-first.  Stale
markers from shrinking cluster counts are explicitly deleted each cycle.
22/22 pure-Python tests pass (no ROS2 required).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-02 12:21:35 -05:00