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

Cliff and drop-off detection safety node (Issue #288) #291

Merged
sl-jetson merged 1 commits from sl-controls/issue-288-cliff-stop into main 2026-03-02 21:05:19 -05:00
Conversation 0 Commits 1 Files Changed 10 +403
sl-controls commented 2026-03-02 20:45:28 -05:00
Collaborator
Copy Link

ROS2 cliff detection node with threshold-based detection, debouncing, and majority voting for safety. Subscribes to /saltybot/cliff_sensors and publishes /saltybot/cliff_detected for emergency stop.

ROS2 cliff detection node with threshold-based detection, debouncing, and majority voting for safety. Subscribes to /saltybot/cliff_sensors and publishes /saltybot/cliff_detected for emergency stop.
sl-controls added 1 commit 2026-03-02 20:45:29 -05:00 
Implements ROS2 cliff detector for SaltyBot with:
- Subscribes to /saltybot/cliff_sensors (IR range array)
- Threshold-based detection (default 0.5m)
- Debouncing (3 consecutive frames) for robustness
- Majority voting (min 2 sensors) for safety
- Publishes Bool on /saltybot/cliff_detected
- Emergency stop trigger on cliff/drop-off detection
- Includes 15+ unit tests for detection logic

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 6518171d42 into main 2026-03-02 21:05:19 -05:00
Sign in to join this conversation.
Reviewers
No Reviewers
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#291
No description provided.
Delete Branch "sl-controls/issue-288-cliff-stop"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?