range-sensor-layer
CommunityIntegrate and tune range sensors in Nav2 costmaps
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
RangeSensorLayer integrates short-range sensors (ultrasonic, IR, VL53L0X time-of-flight) that publish sensor_msgs/Range messages. These sensors detect obstacles that lidar may miss: low obstacles below the lidar plane, transparent surfaces (glass), and very close objects inside the lidar's minimum range.
Core Features & Use Cases
- Integration of ToF/ultrasonic/IR range sensors into the Nav2 costmap as a dynamic obstacle source.
- Configurable with multiple topics, sensor cone angle (phi), cone inflation, and probabilistic thresholds to mark/clear cells.
- Use Case: Detect glass doors or close-range obstacles that lidar alone might miss, by combining range readings with the costmap.
Quick Start
Configure the range_sensor_layer by adding the plugin with topics and thresholds, then launch the costmap to enable range-based obstacle marking.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: range-sensor-layer Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#range-sensor-layer Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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