Implements ROS2 cliff detector for SaltyBot with:
- Subscribes to /saltybot/cliff_sensors (IR range array)
- Threshold-based detection (default 0.5m)
- Debouncing (3 consecutive frames) for robustness
- Majority voting (min 2 sensors) for safety
- Publishes Bool on /saltybot/cliff_detected
- Emergency stop trigger on cliff/drop-off detection
- Includes 15+ unit tests for detection logic
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-controls
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