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e35bd949c0
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feat: Integrate 360° LIDAR obstacle avoidance into full_stack (Issue #364)
Adds saltybot_lidar_avoidance node to the launch sequence at t=3s.
The RPLIDAR A1M8 node was already fully implemented with:
- Emergency stop if obstacle detected within 0.5m
- Speed-dependent safety zones (0.6m @ 0 m/s → 3.0m @ 5.56 m/s)
- Forward scanning window (±30° cone)
- Debounced obstacle detection (2-frame debounce)
- Publishes /cmd_vel_safe with filtered velocity commands
Integrates seamlessly with Nav2 stack and cmd_vel_mux multiplexer.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-04 12:23:43 -05:00 |
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