saltybot_scene 0.1.0 Semantic scene understanding for saltybot — YOLOv8-nano TRT FP16 object detection, room classification (rule-based + MobileNetV2), hazard detection (stairs/drops/wet/glass), Nav2 costmap obstacle publishing, and behavior adaptation. seb MIT ament_cmake ament_cmake_python rclpy std_msgs sensor_msgs geometry_msgs vision_msgs nav_msgs visualization_msgs tf2_ros tf2_geometry_msgs cv_bridge image_transport message_filters saltybot_scene_msgs python3-numpy python3-opencv ament_copyright ament_flake8 ament_pep257 python3-pytest ament_cmake