# \#map

**URL:** https://discourse.openrobotics.org/tag/map/452.md

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## [VL53L0X Time-of-Flight sensor as a Nav2 obstacle layer (ESP32 + ROS 2 Humble)](https://discourse.openrobotics.org/t/vl53l0x-time-of-flight-sensor-as-a-nav2-obstacle-layer-esp32-ros-2-humble/55673)

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**Author:** [@Arjun\_R](https://discourse.openrobotics.org/u/Arjun_R)\
**Replies:** 4\
**Last updated:** [July 9, 2026, 7:58pm UTC](https://discourse.openrobotics.org/t/vl53l0x-time-of-flight-sensor-as-a-nav2-obstacle-layer-esp32-ros-2-humble/55673 "2026-07-09T19:58:12Z")

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Sharing a small open-source project that integrates a low-cost VL53L0X Time-of-Flight sensor into the Nav2 costmap as an obstacle source, in case it’s useful to anyone working with cheap range sensors on small robots. …