saltybot_obstacle_detect 0.1.0 RealSense D435i depth-based obstacle detection node (Issue #611). RANSAC ground-plane fitting, 2D grid-BFS obstacle clustering, publishes MarkerArray centroids (/saltybot/obstacles), PointCloud2 of non-ground points (/saltybot/obstacles/cloud), and JSON alert (/saltybot/obstacles/alert) with safety_zone e-stop integration via configurable Twist output. sl-perception MIT ament_python rclpy std_msgs sensor_msgs geometry_msgs visualization_msgs cv_bridge python3-numpy python3-opencv ament_copyright ament_flake8 ament_pep257 python3-pytest ament_python