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feat: Terrain classification (Issue #469) #519

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sl-jetson commented 2026-03-06 16:43:35 -05:00
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sl-jetson added 1 commit 2026-03-06 16:43:35 -05:00 
Implement multi-sensor terrain classification using RealSense D435i depth and RPLIDAR A1M8:

- saltybot_terrain_classification: New ROS2 package for terrain classification
- TerrainClassifier: Rule-based classifier matching depth variance + reflectance to terrain type
  (smooth/carpet/grass/gravel) with hysteresis + confidence scoring
- DepthExtractor: Extracts roughness from depth discontinuities and surface gradients
- LidarExtractor: Extracts reflectance from RPLIDAR scan intensities
- terrain_classification_node: 10Hz node fusing both sensors, publishes:
  - /saltybot/terrain_type (JSON with type, confidence, speed_scale)
  - /saltybot/terrain_type_string (human-readable type)
  - /saltybot/terrain_speed_scale (0.0-1.0 speed multiplier for smooth/carpet/grass/gravel)

Speed scales: smooth=1.0, carpet=0.9, grass=0.75, gravel=0.6

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-07 09:20:14 -05:00

Pull request closed

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Reference: seb/saltylab-firmware#519
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