sl-webui
fb93acee0a
- 2D occupancy grid (100x100 cells @ 10cm resolution, configurable) - LIDAR integration: subscribes to /scan and /odom for real-time obstacle detection - Ray-casting: marks hit points as obstacles, intermediate points as free space - Cell states: unknown/free/obstacle/hazard with confidence tracking (0.0–1.0) - Hazard classification: 3+ detections = permanent hazard (stays in memory) - Temporal decay: 95%/day for hazards (30-day half-life), 85%/day for obstacles (~21-day) - Decay interval: applied hourly, cells revert to free when confidence < 20% - Persistence: auto-saves to /home/seb/saltybot-data/obstacle_map.yaml every 5 minutes - YAML format: grid metadata + cell array with state/confidence/detection_count/timestamp - OccupancyGrid publisher: /saltybot/obstacle_map for Nav2 integration at 5 Hz - Thread-safe: all grid operations protected with locks for concurrent callbacks - Statistics: hazard/obstacle/free cell counts and coverage percentage - Dashboard overlay ready: color-coded cells (red=hazard, orange=obstacle, gray=free) - Configurable via obstacle_memory.yaml: grid size/resolution, range limits, decay rates Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
25 lines
852 B
XML
25 lines
852 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_obstacle_memory</name>
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<version>0.1.0</version>
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<description>
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Persistent spatial memory map for LIDAR-detected obstacles and hazards.
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</description>
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<maintainer email="seb@vayrette.com">seb</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>ament_index_python</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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