<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>saltybot_perception</name>
  <version>0.1.0</version>
  <description>
    Person detection and tracking for saltybot person-following mode.
    Uses YOLOv8n with TensorRT FP16 on Jetson Orin Nano Super (67 TOPS).
    Publishes person bounding boxes and 3D target position for the follow loop.
  </description>
  <maintainer email="seb@vayrette.com">seb</maintainer>
  <license>MIT</license>

  <depend>rclpy</depend>
  <depend>sensor_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>vision_msgs</depend>
  <depend>tf2_ros</depend>
  <depend>tf2_geometry_msgs</depend>
  <depend>cv_bridge</depend>
  <depend>image_transport</depend>

  <exec_depend>python3-numpy</exec_depend>
  <exec_depend>python3-opencv</exec_depend>
  <exec_depend>python3-launch-ros</exec_depend>

  <!-- TensorRT (Jetson) — optional, falls back to onnxruntime -->
  <!-- exec_depend>python3-tensorrt</exec_depend -->
  <!-- exec_depend>python3-pycuda</exec_depend -->

  <!-- ONNX Runtime fallback -->
  <!-- exec_depend>python3-onnxruntime</exec_depend -->

  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>python3-pytest</test_depend>

  <export>
    <build_type>ament_python</build_type>
  </export>
</package>
