sl-controls
aeb90efa61
Implements ROS2 node for RPLIDAR A1M8 obstacle detection with: - Emergency stop at 0.5m - Speed-dependent safety zone (3m @ 20km/h, scales linearly) - Forward-facing 60° obstacle cone scanning - Publishes /saltybot/obstacle_alert and /cmd_vel_safe - Debounced obstacle detection (2 frames) - JSON status reporting Launch: ros2 launch saltybot_lidar_avoidance lidar_avoidance.launch.py Config: config/lidar_avoidance_params.yaml Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
30 lines
968 B
XML
30 lines
968 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_lidar_avoidance</name>
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<version>0.1.0</version>
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<description>
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360° LIDAR obstacle avoidance for SaltyBot using RPLIDAR A1M8.
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Publishes local costmap, obstacle alerts, and filtered cmd_vel with emergency stop.
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</description>
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<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>geometry_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>std_msgs</depend>
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<depend>nav_msgs</depend>
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<buildtool_depend>ament_python</buildtool_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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