sl-perception
2f4540f1d3
Implements real-time moving obstacle detection, Kalman tracking, trajectory
prediction, and Nav2 costmap integration at 10 Hz / <50ms latency:
saltybot_dynamic_obs_msgs (ament_cmake):
• TrackedObject.msg — id, PoseWithCovariance, velocity, predicted_path,
predicted_times, speed, confidence, age, hits
• MovingObjectArray.msg — TrackedObject[], active_count, tentative_count,
detector_latency_ms
saltybot_dynamic_obstacles (ament_python):
• object_detector.py — LIDAR background subtraction (EMA occupancy grid),
foreground dilation + scipy connected-component
clustering → Detection list
• kalman_tracker.py — CV Kalman filter, state [px,py,vx,vy], Joseph-form
covariance update, predict_horizon() (non-mutating)
• tracker_manager.py — up to 20 tracks, Hungarian assignment
(scipy.optimize.linear_sum_assignment), TENTATIVE→
CONFIRMED lifecycle, miss-prune
• dynamic_obs_node.py — 10 Hz timer: detect→track→publish
/saltybot/moving_objects + MarkerArray viz
• costmap_layer_node.py — predicted paths → PointCloud2 inflation smear
→ /saltybot/dynamic_obs_cloud for Nav2 ObstacleLayer
• launch/dynamic_obstacles.launch.py + config/dynamic_obstacles_params.yaml
• test/test_dynamic_obstacles.py — 27 unit tests (27/27 pass, no ROS2 needed)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
33 lines
1.0 KiB
Python
33 lines
1.0 KiB
Python
from setuptools import setup, find_packages
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from glob import glob
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package_name = 'saltybot_dynamic_obstacles'
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setup(
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name=package_name,
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version='0.1.0',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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('share/' + package_name + '/launch',
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glob('launch/*.launch.py')),
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('share/' + package_name + '/config',
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glob('config/*.yaml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='SaltyLab',
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maintainer_email='robot@saltylab.local',
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description='Dynamic obstacle tracking: LIDAR motion detection, Kalman tracking, Nav2 costmap',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'dynamic_obs_tracker = saltybot_dynamic_obstacles.dynamic_obs_node:main',
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'dynamic_obs_costmap = saltybot_dynamic_obstacles.costmap_layer_node:main',
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],
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},
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)
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