saltybot_segmentation_costmap 0.1.0 Nav2 costmap2d plugin: SegmentationCostmapLayer. Merges semantic traversability scores from sidewalk_seg_node into the Nav2 local_costmap — sidewalk free, road high-cost, obstacle lethal. seb MIT ament_cmake rclcpp nav2_costmap_2d nav_msgs pluginlib ament_lint_auto ament_lint_common ament_cmake