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feat: 360° LIDAR obstacle avoidance (Issue #364) #380

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sl-jetson merged 1 commits from sl-controls/issue-364-lidar-avoidance into main 2026-03-03 18:15:29 -05:00
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sl-jetson commented 2026-03-03 18:15:23 -05:00
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RPLIDAR A1M8 obstacle avoidance: e-stop@0.5m, speed-dependent safety zones (3m@20km/h), /cmd_vel_safe. Issue #364.

RPLIDAR A1M8 obstacle avoidance: e-stop@0.5m, speed-dependent safety zones (3m@20km/h), /cmd_vel_safe. Issue #364.
sl-jetson added 1 commit 2026-03-03 18:15:23 -05:00 
Implements ROS2 node for RPLIDAR A1M8 obstacle detection with:
- Emergency stop at 0.5m
- Speed-dependent safety zone (3m @ 20km/h, scales linearly)
- Forward-facing 60° obstacle cone scanning
- Publishes /saltybot/obstacle_alert and /cmd_vel_safe
- Debounced obstacle detection (2 frames)
- JSON status reporting

Launch: ros2 launch saltybot_lidar_avoidance lidar_avoidance.launch.py
Config: config/lidar_avoidance_params.yaml

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit b942bb549a into main 2026-03-03 18:15:29 -05:00
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Reference: seb/saltylab-firmware#380
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