seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat: Nav2 costmap configuration (Issue #478) #509

Closed
sl-jetson wants to merge 0 commits from sl-perception/issue-478-costmaps into main
pull from: sl-perception/issue-478-costmaps
merge into: seb:main
Conversation 0 Commits - Files Changed -
sl-jetson commented 2026-03-06 11:42:40 -05:00
Collaborator
Copy Link
No description provided.
sl-jetson added 1 commit 2026-03-06 11:42:41 -05:00 
- Create nav2_params.yaml in saltybot_bringup/config/
- Global costmap: static layer + obstacle layer with /scan + /depth_scan
- Local costmap: rolling window 3m×3m, voxel layer + obstacle layer
- Inflation radius: 0.3m (robot_radius 0.15m + 0.15m padding)
- Robot footprint: 0.4m × 0.4m square [-0.2, +0.2] in x, y
- RPLIDAR A1M8 at /scan (360° LaserScan)
- RealSense D435i via depth_to_laserscan at /depth_scan
- Surround vision support for dynamic obstacles

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-07 09:20:11 -05:00

Pull request closed

Please reopen this pull request to perform a merge.
Sign in to join this conversation.
Reviewers
No Reviewers
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#509
No description provided.
Delete Branch "sl-perception/issue-478-costmaps"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?