feat(perception): stage GSeg3D qualification

config/perception/m49-camera-lidar-traversability-v1.json

@@ -0,0 +1,59 @@
+{
+  "schema_version": "missioncore.camera-lidar-traversability/v1",
+  "roles": {
+    "camera_semantics": "material-and-risk-meaning-primary",
+    "lidar": "metric-geometry-and-positive-support-primary",
+    "arbitration": "preserve-contradiction-never-unilateral-clear"
+  },
+  "camera_contract": {
+    "raster": "native-800x600-fisheye",
+    "rectification_allowed": false,
+    "new_model_allowed": false,
+    "vegetation_classes": [
+      "grass_low_vegetation",
+      "tree_woody_vegetation"
+    ]
+  },
+  "states": [
+    {
+      "id": "RIGID_OR_UNKNOWN_OBSTACLE",
+      "required_evidence": "stable-metric-nonground-without-vegetation-support",
+      "cost": "lethal-or-unknown"
+    },
+    {
+      "id": "VEGETATION_UNKNOWN",
+      "required_evidence": "camera-vegetation-without-positive-ground-support",
+      "cost": "unknown-never-free"
+    },
+    {
+      "id": "VEGETATION_POTENTIALLY_TRAVERSABLE",
+      "required_evidence": "camera-low-vegetation-plus-positive-ground-without-concentrated-rigid-return",
+      "cost": "high-cost-terrain"
+    },
+    {
+      "id": "VEGETATION_WITH_RIGID_GEOMETRY",
+      "required_evidence": "camera-vegetation-plus-concentrated-persistent-vertical-geometry",
+      "cost": "lethal"
+    },
+    {
+      "id": "SUPPORTED_GROUND",
+      "required_evidence": "positive-ground-support-without-blocking-geometry",
+      "cost": "candidate-traversable"
+    }
+  ],
+  "invariants": {
+    "camera_can_clear_positive_rigid_geometry": false,
+    "lidar_nonground_alone_means_rigid_object": false,
+    "missing_lidar_support_means_free": false,
+    "vegetation_is_binary_free_or_lethal": false,
+    "physical_navigation_authority": false
+  },
+  "deferred_robot_profile": [
+    "footprint",
+    "ground_clearance",
+    "traction",
+    "maximum_slope",
+    "admissible_vegetation_height",
+    "vegetation_contact_allowed"
+  ]
+}

config/perception/m49-traversability-candidate-manifest-v1.json

@@ -15,6 +15,12 @@
       "candidate_id": "gseg3d-ground-consistency",
       "role": "primary",
       "components": [
+        {
+          "repository": "https://github.com/dfki-ric/ground_segmentation.git",
+          "revision": "116f510485ea5b4707e2b476958d34a5a067f647",
+          "observed_ref": "refs/heads/master",
+          "license": "BSD-3-Clause"
+        },
         {
           "repository": "https://github.com/dfki-ric/ground_segmentation_ros2.git",
           "revision": "5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95",