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aeb90efa61
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feat: Implement 360° LIDAR obstacle avoidance (Issue #364)
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>
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2026-03-03 17:29:14 -05:00 |
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