saltybot_depth_costmap 0.1.0 Nav2 costmap2d plugin: DepthCostmapLayer (Issue #532). Converts RealSense D435i depth images to a Nav2 costmap layer with configurable height filtering and in-layer obstacle inflation. seb MIT ament_cmake rclcpp nav2_costmap_2d sensor_msgs geometry_msgs tf2_ros tf2 pluginlib ament_lint_auto ament_lint_common ament_cmake