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feat: 360 obstacle avoidance with RPLIDAR (Issue #364) #396

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sl-jetson merged 1 commits from sl-firmware/issue-364-obstacle-avoidance into main 2026-03-04 12:39:47 -05:00
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13
jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
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@ -275,6 +275,16 @@ def generate_launch_description():
], ],
) )
# ── t=3s LIDAR obstacle avoidance (360° safety with RPLIDAR A1M8) ────────
lidar_avoidance = TimerAction(
period=3.0,
actions=[
IncludeLaunchDescription(
_launch("saltybot_lidar_avoidance", "launch", "lidar_avoidance.launch.py"),
),
],
)
# ── t=4s Optional: 4× IMX219 CSI surround cameras ─────────────────────── # ── t=4s Optional: 4× IMX219 CSI surround cameras ───────────────────────
csi_cameras = TimerAction( csi_cameras = TimerAction(
period=4.0, period=4.0,
@ -452,6 +462,9 @@ def generate_launch_description():
sensors, sensors,
cmd_vel_bridge, cmd_vel_bridge,
# t=3s
lidar_avoidance,
# t=4s # t=4s
csi_cameras, csi_cameras,
uwb_driver, uwb_driver,