diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/config/enrollment_params.yaml b/jetson/ros2_ws/src/saltybot_social_enrollment/config/enrollment_params.yaml new file mode 100644 index 0000000..a2cefac --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_enrollment/config/enrollment_params.yaml @@ -0,0 +1,6 @@ +enrollment_node: + ros__parameters: + db_path: '/mnt/nvme/saltybot/gallery/persons.db' + voice_samples_dir: '/mnt/nvme/saltybot/gallery/voice' + auto_enroll_phrase: 'remember me my name is' + n_samples_default: 10 diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/launch/enrollment.launch.py b/jetson/ros2_ws/src/saltybot_social_enrollment/launch/enrollment.launch.py new file mode 100644 index 0000000..35d4886 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_enrollment/launch/enrollment.launch.py @@ -0,0 +1,22 @@ +"""Launch file for saltybot social enrollment node.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + pkg_share = get_package_share_directory('saltybot_social_enrollment') + config_file = os.path.join(pkg_share, 'config', 'enrollment_params.yaml') + + return LaunchDescription([ + Node( + package='saltybot_social_enrollment', + executable='enrollment_node', + name='enrollment_node', + parameters=[config_file], + output='screen', + ), + ]) diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/package.xml b/jetson/ros2_ws/src/saltybot_social_enrollment/package.xml new file mode 100644 index 0000000..fcfc9f2 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_enrollment/package.xml @@ -0,0 +1,23 @@ + + + + saltybot_social_enrollment + 0.1.0 + Person enrollment system for saltybot social interaction + seb + MIT + + ament_python + + rclpy + sensor_msgs + cv_bridge + std_msgs + saltybot_social_msgs + + python3-numpy + + + ament_python + + diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/resource/saltybot_social_enrollment b/jetson/ros2_ws/src/saltybot_social_enrollment/resource/saltybot_social_enrollment new file mode 100644 index 0000000..e69de29 diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/__init__.py b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/enrollment_cli.py b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/enrollment_cli.py new file mode 100644 index 0000000..10a4933 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/enrollment_cli.py @@ -0,0 +1,184 @@ +#!/usr/bin/env python3 +"""enrollment_cli.py -- Gallery management CLI for saltybot social. + +Usage: + ros2 run saltybot_social_enrollment enrollment_cli enroll --name "Alice" [--samples 15] [--mode face] + ros2 run saltybot_social_enrollment enrollment_cli list + ros2 run saltybot_social_enrollment enrollment_cli delete --id 3 + ros2 run saltybot_social_enrollment enrollment_cli rename --id 2 --name "Bob" +""" + +import argparse +import sys + +import rclpy +from rclpy.node import Node + +from saltybot_social_msgs.srv import ( + EnrollPerson, + ListPersons, + DeletePerson, + UpdatePerson, +) + + +class EnrollmentCLI(Node): + def __init__(self): + super().__init__('enrollment_cli') + self._enroll_client = self.create_client( + EnrollPerson, '/social/enroll' + ) + self._list_client = self.create_client( + ListPersons, '/social/persons/list' + ) + self._delete_client = self.create_client( + DeletePerson, '/social/persons/delete' + ) + self._update_client = self.create_client( + UpdatePerson, '/social/persons/update' + ) + + def enroll(self, name: str, n_samples: int = 10, mode: str = 'face'): + if not self._enroll_client.wait_for_service(timeout_sec=5.0): + print('ERROR: /social/enroll service not available') + return False + + req = EnrollPerson.Request() + req.name = name + req.mode = mode + req.n_samples = n_samples + + print(f'Enrolling "{name}" ({mode}, {n_samples} samples)...') + future = self._enroll_client.call_async(req) + rclpy.spin_until_future_complete(self, future, timeout_sec=60.0) + + if future.result() is None: + print('ERROR: Enrollment timed out') + return False + + resp = future.result() + if resp.success: + print(f'OK: Enrolled "{name}" as person_id={resp.person_id}') + else: + print(f'FAILED: {resp.message}') + return resp.success + + def list_persons(self): + if not self._list_client.wait_for_service(timeout_sec=5.0): + print('ERROR: /social/persons/list service not available') + return + + req = ListPersons.Request() + future = self._list_client.call_async(req) + rclpy.spin_until_future_complete(self, future, timeout_sec=10.0) + + if future.result() is None: + print('ERROR: List request timed out') + return + + resp = future.result() + if not resp.persons: + print('Gallery is empty.') + return + + print(f'{"ID":>4} {"Name":<20} {"Samples":>7} {"Embedding Dim":>13}') + print('-' * 50) + for p in resp.persons: + dim = len(p.embedding) if p.embedding else 0 + print(f'{p.person_id:>4} {p.person_name:<20} {p.sample_count:>7} {dim:>13}') + + def delete(self, person_id: int): + if not self._delete_client.wait_for_service(timeout_sec=5.0): + print('ERROR: /social/persons/delete service not available') + return False + + req = DeletePerson.Request() + req.person_id = person_id + + future = self._delete_client.call_async(req) + rclpy.spin_until_future_complete(self, future, timeout_sec=10.0) + + if future.result() is None: + print('ERROR: Delete request timed out') + return False + + resp = future.result() + if resp.success: + print(f'OK: {resp.message}') + else: + print(f'FAILED: {resp.message}') + return resp.success + + def rename(self, person_id: int, new_name: str): + if not self._update_client.wait_for_service(timeout_sec=5.0): + print('ERROR: /social/persons/update service not available') + return False + + req = UpdatePerson.Request() + req.person_id = person_id + req.new_name = new_name + + future = self._update_client.call_async(req) + rclpy.spin_until_future_complete(self, future, timeout_sec=10.0) + + if future.result() is None: + print('ERROR: Rename request timed out') + return False + + resp = future.result() + if resp.success: + print(f'OK: {resp.message}') + else: + print(f'FAILED: {resp.message}') + return resp.success + + +def main(args=None): + parser = argparse.ArgumentParser( + description='saltybot person enrollment CLI' + ) + subparsers = parser.add_subparsers(dest='command', required=True) + + # enroll + enroll_p = subparsers.add_parser('enroll', help='Enroll a new person') + enroll_p.add_argument('--name', required=True, help='Person name') + enroll_p.add_argument('--samples', type=int, default=10, + help='Number of face samples (default: 10)') + enroll_p.add_argument('--mode', default='face', + help='Enrollment mode (default: face)') + + # list + subparsers.add_parser('list', help='List enrolled persons') + + # delete + delete_p = subparsers.add_parser('delete', help='Delete a person') + delete_p.add_argument('--id', type=int, required=True, + help='Person ID to delete') + + # rename + rename_p = subparsers.add_parser('rename', help='Rename a person') + rename_p.add_argument('--id', type=int, required=True, + help='Person ID to rename') + rename_p.add_argument('--name', required=True, help='New name') + + parsed = parser.parse_args(sys.argv[1:]) + + rclpy.init() + cli = EnrollmentCLI() + + try: + if parsed.command == 'enroll': + cli.enroll(parsed.name, parsed.samples, parsed.mode) + elif parsed.command == 'list': + cli.list_persons() + elif parsed.command == 'delete': + cli.delete(parsed.id) + elif parsed.command == 'rename': + cli.rename(parsed.id, parsed.name) + finally: + cli.destroy_node() + rclpy.try_shutdown() + + +if __name__ == '__main__': + main() diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/enrollment_node.py b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/enrollment_node.py new file mode 100644 index 0000000..caee1ce --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/enrollment_node.py @@ -0,0 +1,302 @@ +"""enrollment_node.py -- ROS2 person enrollment node for saltybot social. + +Coordinates person enrollment: +- Forwards /social/enroll to face_recognizer's service +- Owns persistent SQLite gallery (PersonDB) +- Voice-triggered enrollment via "remember me my name is X" +- Gallery management services (list/delete/update) +- Syncs DB from /social/faces/embeddings topic +""" + +import threading +import numpy as np + +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy +from std_msgs.msg import String + +from saltybot_social_msgs.msg import ( + FaceDetectionArray, + FaceEmbedding, + FaceEmbeddingArray, +) +from saltybot_social_msgs.srv import ( + EnrollPerson, + ListPersons, + DeletePerson, + UpdatePerson, +) + +from saltybot_social_enrollment.person_db import PersonDB + + +class EnrollmentNode(Node): + def __init__(self): + super().__init__('enrollment_node') + + # Parameters + self.declare_parameter('db_path', '/mnt/nvme/saltybot/gallery/persons.db') + self.declare_parameter('voice_samples_dir', '/mnt/nvme/saltybot/gallery/voice') + self.declare_parameter('auto_enroll_phrase', 'remember me my name is') + self.declare_parameter('n_samples_default', 10) + + db_path = self.get_parameter('db_path').value + self._voice_dir = self.get_parameter('voice_samples_dir').value + self._phrase = self.get_parameter('auto_enroll_phrase').value + self._n_samples = self.get_parameter('n_samples_default').value + + self._db = PersonDB(db_path) + self.get_logger().info(f'PersonDB initialized at {db_path}') + + # Client to face_recognizer's enroll service + self._enroll_client = self.create_client( + EnrollPerson, '/social/face_recognizer/enroll' + ) + + # QoS profiles + best_effort_qos = QoSProfile( + depth=10, + reliability=ReliabilityPolicy.BEST_EFFORT, + durability=DurabilityPolicy.VOLATILE, + ) + reliable_qos = QoSProfile( + depth=1, + reliability=ReliabilityPolicy.RELIABLE, + durability=DurabilityPolicy.VOLATILE, + ) + status_qos = QoSProfile( + depth=1, + reliability=ReliabilityPolicy.BEST_EFFORT, + durability=DurabilityPolicy.VOLATILE, + ) + + # Subscriptions + self.create_subscription( + FaceDetectionArray, '/social/faces/detections', + self._on_detections, best_effort_qos + ) + self.create_subscription( + FaceEmbeddingArray, '/social/faces/embeddings', + self._on_embeddings, reliable_qos + ) + self.create_subscription( + String, '/social/speech/transcript', + self._on_transcript, best_effort_qos + ) + self.create_subscription( + String, '/social/speech/command', + self._on_command, best_effort_qos + ) + + # Services + self.create_service(EnrollPerson, '/social/enroll', self._handle_enroll) + self.create_service(ListPersons, '/social/persons/list', self._handle_list) + self.create_service(DeletePerson, '/social/persons/delete', self._handle_delete) + self.create_service(UpdatePerson, '/social/persons/update', self._handle_update) + + # Publishers + self._pub_embeddings = self.create_publisher( + FaceEmbeddingArray, '/social/faces/embeddings', reliable_qos + ) + self._pub_status = self.create_publisher( + String, '/social/enrollment/status', status_qos + ) + + self.get_logger().info('EnrollmentNode ready') + + # ---- Voice-triggered enrollment ---- + + def _on_transcript(self, msg: String): + text = msg.data.lower() + phrase = self._phrase.lower() + if phrase in text: + idx = text.index(phrase) + len(phrase) + name = text[idx:].strip() + # Clean up: take first 3 words max as the name + words = name.split() + if words: + name = ' '.join(words[:3]).title() + self.get_logger().info(f'Voice enrollment triggered: "{name}"') + self._trigger_voice_enroll(name) + + def _on_command(self, msg: String): + # Reserved for explicit voice commands (e.g., "enroll Alice") + pass + + def _trigger_voice_enroll(self, name: str): + if not self._enroll_client.wait_for_service(timeout_sec=1.0): + self.get_logger().warn( + 'face_recognizer enroll service not available' + ) + self._publish_status(f'Enrollment failed: face_recognizer unavailable') + return + + req = EnrollPerson.Request() + req.name = name + req.mode = 'face' + req.n_samples = self._n_samples + future = self._enroll_client.call_async(req) + future.add_done_callback( + lambda f: self._on_enroll_done(f, name) + ) + self._publish_status(f'Enrolling "{name}"... look at the camera') + + def _on_enroll_done(self, future, name: str): + try: + resp = future.result() + if resp.success: + status = f'Enrolled "{name}" (id={resp.person_id})' + self.get_logger().info(status) + else: + status = f'Enrollment failed for "{name}": {resp.message}' + self.get_logger().warn(status) + self._publish_status(status) + except Exception as e: + self.get_logger().error(f'Enroll call failed: {e}') + self._publish_status(f'Enrollment error: {e}') + + # ---- Face detection callback (during enrollment) ---- + + def _on_detections(self, msg: FaceDetectionArray): + # Reserved for future direct enrollment (without face_recognizer) + pass + + # ---- Embeddings sync from face_recognizer ---- + + def _on_embeddings(self, msg: FaceEmbeddingArray): + for emb in msg.embeddings: + existing = self._db.get_person(emb.person_id) + if existing is None: + arr = np.array(emb.embedding, dtype=np.float32) + self._db.add_person( + emb.person_name, arr, emb.sample_count + ) + self.get_logger().info( + f'Synced new person from face_recognizer: ' + f'{emb.person_name} (id={emb.person_id})' + ) + + # ---- Service handlers ---- + + def _handle_enroll(self, request, response): + """Forward enrollment to face_recognizer service.""" + if not self._enroll_client.wait_for_service(timeout_sec=2.0): + response.success = False + response.message = 'face_recognizer service unavailable' + return response + + # Use threading.Event to bridge async call in service callback + event = threading.Event() + result_holder = {} + + req = EnrollPerson.Request() + req.name = request.name + req.mode = request.mode + req.n_samples = request.n_samples + + future = self._enroll_client.call_async(req) + + def _done(f): + try: + result_holder['resp'] = f.result() + except Exception as e: + result_holder['err'] = str(e) + event.set() + + future.add_done_callback(_done) + success = event.wait(timeout=35.0) + + if not success: + response.success = False + response.message = 'Enrollment timed out' + elif 'resp' in result_holder: + resp = result_holder['resp'] + response.success = resp.success + response.message = resp.message + response.person_id = resp.person_id + else: + response.success = False + response.message = result_holder.get('err', 'Unknown error') + + return response + + def _handle_list(self, request, response): + persons = self._db.get_all() + response.persons = [] + for p in persons: + fe = FaceEmbedding() + fe.person_id = p['id'] + fe.person_name = p['name'] + fe.sample_count = p['sample_count'] + fe.enrolled_at.sec = int(p['enrolled_at']) + fe.enrolled_at.nanosec = int( + (p['enrolled_at'] - int(p['enrolled_at'])) * 1e9 + ) + if p['embedding'] is not None: + fe.embedding = p['embedding'].tolist() + response.persons.append(fe) + return response + + def _handle_delete(self, request, response): + success = self._db.delete_person(request.person_id) + response.success = success + if success: + response.message = f'Deleted person {request.person_id}' + self.get_logger().info(response.message) + self._publish_embeddings_from_db() + else: + response.message = f'Person {request.person_id} not found' + return response + + def _handle_update(self, request, response): + success = self._db.update_name(request.person_id, request.new_name) + response.success = success + if success: + response.message = f'Updated person {request.person_id} name to "{request.new_name}"' + self.get_logger().info(response.message) + self._publish_embeddings_from_db() + else: + response.message = f'Person {request.person_id} not found' + return response + + # ---- Helpers ---- + + def _publish_status(self, text: str): + msg = String() + msg.data = text + self._pub_status.publish(msg) + + def _publish_embeddings_from_db(self): + persons = self._db.get_all() + arr = FaceEmbeddingArray() + arr.header.stamp = self.get_clock().now().to_msg() + for p in persons: + if p['embedding'] is not None: + fe = FaceEmbedding() + fe.person_id = p['id'] + fe.person_name = p['name'] + fe.sample_count = p['sample_count'] + fe.enrolled_at.sec = int(p['enrolled_at']) + fe.enrolled_at.nanosec = int( + (p['enrolled_at'] - int(p['enrolled_at'])) * 1e9 + ) + fe.embedding = p['embedding'].tolist() + arr.embeddings.append(fe) + self._pub_embeddings.publish(arr) + + +def main(args=None): + rclpy.init(args=args) + node = EnrollmentNode() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.try_shutdown() + + +if __name__ == '__main__': + main() diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/person_db.py b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/person_db.py new file mode 100644 index 0000000..f7ca14c --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/person_db.py @@ -0,0 +1,138 @@ +"""person_db.py -- Persistent SQLite person gallery for saltybot enrollment.""" + +import sqlite3 +import json +import time +import numpy as np +import threading +from pathlib import Path + + +class PersonDB: + """Thread-safe SQLite-backed person gallery. + + Schema: + persons(id INTEGER PRIMARY KEY, name TEXT, enrolled_at REAL, + sample_count INTEGER, embedding BLOB, metadata TEXT) + voice_samples(id INTEGER PRIMARY KEY, person_id INTEGER REFERENCES persons, + recorded_at REAL, sample_path TEXT) + """ + + def __init__(self, db_path: str): + self._db_path = db_path + self._lock = threading.Lock() + Path(db_path).parent.mkdir(parents=True, exist_ok=True) + self._init_db() + + def _init_db(self): + with self._connect() as conn: + conn.execute(""" + CREATE TABLE IF NOT EXISTS persons ( + id INTEGER PRIMARY KEY AUTOINCREMENT, + name TEXT NOT NULL, + enrolled_at REAL NOT NULL, + sample_count INTEGER DEFAULT 1, + embedding BLOB, + metadata TEXT DEFAULT '{}' + ) + """) + conn.execute(""" + CREATE TABLE IF NOT EXISTS voice_samples ( + id INTEGER PRIMARY KEY AUTOINCREMENT, + person_id INTEGER REFERENCES persons(id), + recorded_at REAL NOT NULL, + sample_path TEXT NOT NULL + ) + """) + + def _connect(self): + return sqlite3.connect(self._db_path) + + def add_person(self, name: str, embedding: np.ndarray, sample_count: int = 1, + metadata: dict = None) -> int: + """Add a new person. Returns new person_id.""" + emb_blob = embedding.astype(np.float32).tobytes() if embedding is not None else None + now = time.time() + with self._lock: + with self._connect() as conn: + cur = conn.execute( + "INSERT INTO persons (name, enrolled_at, sample_count, embedding, metadata) " + "VALUES (?, ?, ?, ?, ?)", + (name, now, sample_count, emb_blob, json.dumps(metadata or {})) + ) + return cur.lastrowid + + def update_embedding(self, person_id: int, embedding: np.ndarray, + sample_count: int) -> bool: + emb_blob = embedding.astype(np.float32).tobytes() + with self._lock: + with self._connect() as conn: + conn.execute( + "UPDATE persons SET embedding=?, sample_count=? WHERE id=?", + (emb_blob, sample_count, person_id) + ) + return conn.total_changes > 0 + + def update_name(self, person_id: int, new_name: str) -> bool: + with self._lock: + with self._connect() as conn: + conn.execute( + "UPDATE persons SET name=? WHERE id=?", + (new_name, person_id) + ) + return conn.total_changes > 0 + + def delete_person(self, person_id: int) -> bool: + with self._lock: + with self._connect() as conn: + conn.execute( + "DELETE FROM voice_samples WHERE person_id=?", + (person_id,) + ) + conn.execute( + "DELETE FROM persons WHERE id=?", + (person_id,) + ) + return conn.total_changes > 0 + + def get_all(self) -> list: + """Returns list of dicts with id, name, enrolled_at, sample_count, embedding.""" + with self._lock: + with self._connect() as conn: + rows = conn.execute( + "SELECT id, name, enrolled_at, sample_count, embedding FROM persons" + ).fetchall() + result = [] + for row in rows: + emb = np.frombuffer(row[4], dtype=np.float32).copy() if row[4] else None + result.append({ + 'id': row[0], 'name': row[1], 'enrolled_at': row[2], + 'sample_count': row[3], 'embedding': emb + }) + return result + + def get_person(self, person_id: int) -> dict | None: + with self._lock: + with self._connect() as conn: + row = conn.execute( + "SELECT id, name, enrolled_at, sample_count, embedding " + "FROM persons WHERE id=?", + (person_id,) + ).fetchone() + if row is None: + return None + emb = np.frombuffer(row[4], dtype=np.float32).copy() if row[4] else None + return { + 'id': row[0], 'name': row[1], 'enrolled_at': row[2], + 'sample_count': row[3], 'embedding': emb + } + + def add_voice_sample(self, person_id: int, sample_path: str) -> int: + with self._lock: + with self._connect() as conn: + cur = conn.execute( + "INSERT INTO voice_samples (person_id, recorded_at, sample_path) " + "VALUES (?, ?, ?)", + (person_id, time.time(), sample_path) + ) + return cur.lastrowid diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/setup.cfg b/jetson/ros2_ws/src/saltybot_social_enrollment/setup.cfg new file mode 100644 index 0000000..c5c268d --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_enrollment/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/saltybot_social_enrollment +[install] +install_scripts=$base/lib/saltybot_social_enrollment diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/setup.py b/jetson/ros2_ws/src/saltybot_social_enrollment/setup.py new file mode 100644 index 0000000..b42d1a2 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_enrollment/setup.py @@ -0,0 +1,29 @@ +from setuptools import setup +import os +from glob import glob + +package_name = 'saltybot_social_enrollment' + +setup( + name=package_name, + version='0.1.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*.py')), + (os.path.join('share', package_name, 'config'), glob('config/*.yaml')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='seb', + maintainer_email='seb@vayrette.com', + description='Person enrollment system for saltybot social interaction', + license='MIT', + entry_points={ + 'console_scripts': [ + 'enrollment_node = saltybot_social_enrollment.enrollment_node:main', + 'enrollment_cli = saltybot_social_enrollment.enrollment_cli:main', + ], + }, +) diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/CMakeLists.txt b/jetson/ros2_ws/src/saltybot_social_msgs/CMakeLists.txt new file mode 100644 index 0000000..ab0e2be --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.8) +project(saltybot_social_msgs) + +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(builtin_interfaces REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/FaceDetection.msg" + "msg/FaceDetectionArray.msg" + "msg/FaceEmbedding.msg" + "msg/FaceEmbeddingArray.msg" + "msg/PersonState.msg" + "msg/PersonStateArray.msg" + "srv/EnrollPerson.srv" + "srv/ListPersons.srv" + "srv/DeletePerson.srv" + "srv/UpdatePerson.srv" + "srv/GetFaceEmbedding.srv" + DEPENDENCIES std_msgs geometry_msgs sensor_msgs builtin_interfaces +) + +ament_package() diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceDetection.msg b/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceDetection.msg new file mode 100644 index 0000000..53b3a10 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceDetection.msg @@ -0,0 +1,10 @@ +std_msgs/Header header +int32 face_id +string person_name +float32 confidence +float32 recognition_score +float32 bbox_x +float32 bbox_y +float32 bbox_w +float32 bbox_h +float32[10] landmarks diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceDetectionArray.msg b/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceDetectionArray.msg new file mode 100644 index 0000000..6937712 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceDetectionArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +FaceDetection[] faces diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceEmbedding.msg b/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceEmbedding.msg new file mode 100644 index 0000000..456f0a2 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceEmbedding.msg @@ -0,0 +1,5 @@ +int32 person_id +string person_name +float32[] embedding +builtin_interfaces/Time enrolled_at +int32 sample_count diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceEmbeddingArray.msg b/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceEmbeddingArray.msg new file mode 100644 index 0000000..aa8627a --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/msg/FaceEmbeddingArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +FaceEmbedding[] embeddings diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/msg/PersonState.msg b/jetson/ros2_ws/src/saltybot_social_msgs/msg/PersonState.msg new file mode 100644 index 0000000..d008687 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/msg/PersonState.msg @@ -0,0 +1,20 @@ +uint8 STATE_UNKNOWN=0 +uint8 STATE_DETECTED=1 +uint8 STATE_RECOGNIZED=2 +uint8 STATE_ENGAGED=3 +uint8 STATE_LOST=4 +uint8 STATE_ABSENT=5 + +std_msgs/Header header +int32 person_id +string person_name +int32 face_id +string speaker_id +string uwb_anchor_id +geometry_msgs/Point position +float32 distance +float32 bearing_deg +uint8 state +float32 engagement_score +builtin_interfaces/Time last_seen +int32 camera_id diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/msg/PersonStateArray.msg b/jetson/ros2_ws/src/saltybot_social_msgs/msg/PersonStateArray.msg new file mode 100644 index 0000000..8e89fb8 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/msg/PersonStateArray.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +PersonState[] persons +int32 primary_attention_id diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/package.xml b/jetson/ros2_ws/src/saltybot_social_msgs/package.xml new file mode 100644 index 0000000..81507e8 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/package.xml @@ -0,0 +1,25 @@ + + + + saltybot_social_msgs + 0.1.0 + ROS2 message and service definitions for saltybot social interaction + seb + MIT + + ament_cmake + rosidl_default_generators + + std_msgs + geometry_msgs + sensor_msgs + builtin_interfaces + + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + + diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/srv/DeletePerson.srv b/jetson/ros2_ws/src/saltybot_social_msgs/srv/DeletePerson.srv new file mode 100644 index 0000000..0a77e93 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/srv/DeletePerson.srv @@ -0,0 +1,4 @@ +int32 person_id +--- +bool success +string message diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/srv/EnrollPerson.srv b/jetson/ros2_ws/src/saltybot_social_msgs/srv/EnrollPerson.srv new file mode 100644 index 0000000..3ba7231 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/srv/EnrollPerson.srv @@ -0,0 +1,7 @@ +string name +string mode +int32 n_samples +--- +bool success +string message +int32 person_id diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/srv/GetFaceEmbedding.srv b/jetson/ros2_ws/src/saltybot_social_msgs/srv/GetFaceEmbedding.srv new file mode 100644 index 0000000..0f40ea6 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/srv/GetFaceEmbedding.srv @@ -0,0 +1,4 @@ +sensor_msgs/Image crop +--- +bool success +float32[512] embedding diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/srv/ListPersons.srv b/jetson/ros2_ws/src/saltybot_social_msgs/srv/ListPersons.srv new file mode 100644 index 0000000..6889baa --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/srv/ListPersons.srv @@ -0,0 +1,2 @@ +--- +FaceEmbedding[] persons diff --git a/jetson/ros2_ws/src/saltybot_social_msgs/srv/UpdatePerson.srv b/jetson/ros2_ws/src/saltybot_social_msgs/srv/UpdatePerson.srv new file mode 100644 index 0000000..8fc0abf --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_social_msgs/srv/UpdatePerson.srv @@ -0,0 +1,5 @@ +int32 person_id +string new_name +--- +bool success +string message