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feat: photo capture (Issue #456) #465

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sl-jetson wants to merge 0 commits from sl-jetson/issue-456-photo-capture into main
pull from: sl-jetson/issue-456-photo-capture
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sl-jetson commented 2026-03-05 11:07:46 -05:00
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Snapshot + timelapse + event-triggered

Snapshot + timelapse + event-triggered
sl-jetson added 3 commits 2026-03-05 11:07:47 -05:00 
- 2D occupancy grid (100x100 cells @ 10cm resolution, configurable)
- LIDAR integration: subscribes to /scan and /odom for real-time obstacle detection
- Ray-casting: marks hit points as obstacles, intermediate points as free space
- Cell states: unknown/free/obstacle/hazard with confidence tracking (0.0–1.0)
- Hazard classification: 3+ detections = permanent hazard (stays in memory)
- Temporal decay: 95%/day for hazards (30-day half-life), 85%/day for obstacles (~21-day)
- Decay interval: applied hourly, cells revert to free when confidence < 20%
- Persistence: auto-saves to /home/seb/saltybot-data/obstacle_map.yaml every 5 minutes
- YAML format: grid metadata + cell array with state/confidence/detection_count/timestamp
- OccupancyGrid publisher: /saltybot/obstacle_map for Nav2 integration at 5 Hz
- Thread-safe: all grid operations protected with locks for concurrent callbacks
- Statistics: hazard/obstacle/free cell counts and coverage percentage
- Dashboard overlay ready: color-coded cells (red=hazard, orange=obstacle, gray=free)
- Configurable via obstacle_memory.yaml: grid size/resolution, range limits, decay rates

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-05 11:10:12 -05:00

Pull request closed

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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#465
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