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>
33 lines
965 B
Python
33 lines
965 B
Python
from setuptools import setup
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import os
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from glob import glob
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package_name = 'saltybot_obstacle_memory'
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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=[package_name],
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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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(os.path.join('share', package_name, 'launch'),
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glob('launch/*.py')),
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(os.path.join('share', package_name, 'config'),
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glob('config/*.yaml')),
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],
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install_requires=['setuptools', 'pyyaml', 'numpy'],
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zip_safe=True,
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maintainer='seb',
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maintainer_email='seb@vayrette.com',
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description='Persistent spatial memory map for obstacles and hazards from LIDAR',
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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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'obstacle_memory = saltybot_obstacle_memory.obstacle_memory_node:main',
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],
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},
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)
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