saltybot_surround 0.1.0 4× IMX219 surround vision pipeline — 360° bird's-eye view and Nav2 costmap obstacle layer from camera-based obstacle detection. Catches obstacles that RPLIDAR misses (chairs, people, glass walls). sl-perception MIT rclpy sensor_msgs cv_bridge image_transport tf2_ros geometry_msgs python3-opencv python3-numpy ament_copyright ament_flake8 ament_pep257 python3-pytest ament_python