Merge pull request 'feat(social): person enrollment system #87' (#95) from sl-perception/social-enrollment into main

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

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',
+        ),
+    ])

jetson/ros2_ws/src/saltybot_social_enrollment/package.xml

@@ -0,0 +1,23 @@
+<?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_social_enrollment</name>
+  <version>0.1.0</version>
+  <description>Person enrollment system for saltybot social interaction</description>
+  <maintainer email="seb@vayrette.com">seb</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>std_msgs</depend>
+  <depend>saltybot_social_msgs</depend>
+
+  <exec_depend>python3-numpy</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

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()

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()

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

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

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',
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_social_msgs/srv/GetFaceEmbedding.srv

@@ -0,0 +1,4 @@
+sensor_msgs/Image crop
+---
+bool success
+float32[512] embedding