saltybot_safety_zone 0.1.0 RPLIDAR 360° safety zone detector (Issue #575). Divides the full 360° scan into 10° sectors, classifies each as DANGER/WARN/CLEAR, latches an e-stop on DANGER in the forward arc, overrides /cmd_vel to zero while latched, and exposes a service to clear the latch once obstacles are gone. sl-perception MIT ament_python rclpy geometry_msgs sensor_msgs std_msgs std_srvs ament_copyright ament_flake8 ament_pep257 python3-pytest ament_python