71d6ce610b
feat(social): speech pipeline + LLM conversation + TTS + orchestrator ( #81 #83 #85 #89 )
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Issue #81 — Speech pipeline:
- speech_pipeline_node.py: OpenWakeWord "hey_salty" → Silero VAD → faster-whisper
STT (Orin GPU, <500ms wake-to-transcript) → ECAPA-TDNN speaker diarization
- speech_utils.py: pcm16↔float32, EnergyVad, UtteranceSegmenter (pre-roll, max-
duration), cosine speaker identification — all pure Python, no ROS2/GPU needed
- Publishes /social/speech/transcript (SpeechTranscript) + /social/speech/vad_state
Issue #83 — Conversation engine:
- conversation_node.py: llama-cpp-python GGUF (Phi-3-mini Q4_K_M, 20 GPU layers),
streaming token output, per-person sliding-window context (4K tokens), summary
compression, SOUL.md system prompt, group mode
- llm_context.py: PersonContext, ContextStore (JSON persistence), build_llama_prompt
(ChatML format), context compression via LLM summarization
- Publishes /social/conversation/response (ConversationResponse, partial + final)
Issue #85 — Streaming TTS:
- tts_node.py: Piper ONNX streaming synthesis, sentence-by-sentence first-chunk
streaming (<200ms to first audio), sounddevice USB speaker playback, volume control
- tts_utils.py: split_sentences, pcm16_to_wav_bytes, chunk_pcm, apply_volume, strip_ssml
Issue #89 — Pipeline orchestrator:
- orchestrator_node.py: IDLE→LISTENING→THINKING→SPEAKING state machine, GPU memory
watchdog (throttle at <2GB free), rolling latency stats (p50/p95 per stage),
VAD watchdog (alert if speech pipeline hangs), /social/orchestrator/state JSON pub
- social_bot.launch.py: brings up all 4 nodes with TimerAction delays
New messages: SpeechTranscript.msg, VadState.msg, ConversationResponse.msg
Config YAMLs: speech_params, conversation_params, tts_params, orchestrator_params
Tests: 58 tests (28 speech_utils + 30 llm_context/tts_utils), all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:17:35 -05:00
fa0162fadc
feat(social): multi-modal tracking fusion — UWB+camera Kalman filter (Issue #92 )
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New packages:
saltybot_social_msgs — FusedTarget.msg custom message
saltybot_social_tracking — 4-state Kalman fusion node
saltybot_social_tracking/tracking_fusion_node.py
Subscribes to /uwb/target (PoseStamped, ~10 Hz) and /person/target
(PoseStamped, ~30 Hz) and publishes /social/tracking/fused_target
(FusedTarget) at 20 Hz.
Source arbitration:
• "fused" — both UWB and camera are fresh; confidence-weighted blend
• "uwb" — UWB fresh, camera stale
• "camera" — camera fresh, UWB stale
• "predicted" — all sources stale; KF coasts for up to predict_timeout (3 s)
Kalman filter (kalman_tracker.py):
State [x, y, vx, vy] with discrete Wiener acceleration noise model
(process_noise=3.0 m/s²) sized for EUC speeds (20-30 km/h, ≈5.5-8.3 m/s).
Separate UWB (0.20 m) and camera (0.12 m) measurement noise.
Velocity estimate converges after ~3 s of 10 Hz UWB measurements.
Confidence model (source_arbiter.py):
Per-source confidence = quality × max(0, 1 - age/timeout).
Composite confidence accounts for KF positional uncertainty and
is capped at 0.4 during dead-reckoning ("predicted") mode.
Tests: 58/58 pass (no ROS2 runtime required).
Note: saltybot_social_msgs here adds FusedTarget.msg; PR #98
(Issue #84 ) adds PersonalityState.msg + QueryMood.srv to the same
package. The maintainer should squash-merge #98 first and rebase
this branch on top of it before merging to avoid the package.xml
conflict.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 23:59:10 -05:00
44771751e2
feat(social): personality system — SOUL.md persona, mood engine, relationship DB (Issue #84 )
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New packages:
- saltybot_social_msgs: PersonalityState.msg + QueryMood.srv custom interfaces
- saltybot_social_personality: full personality node
Features:
- SOUL.md YAML/Markdown persona file: name, humor_level (0-10), sass_level (0-10),
base_mood, per-tier greeting templates, mood prefix strings
- Hot-reload: SoulWatcher polls SOUL.md every reload_interval seconds, applies
changes live without restarting the node
- Per-person relationship memory in SQLite: score, interaction_count,
first/last_seen, learned preferences (JSON), full interaction log
- Mood engine (pure functions): happy | curious | annoyed | playful
driven by relationship score, interaction count, recent event window (120s)
- Greeting personalisation: stranger | regular | favorite tiers
keyed on interaction count thresholds from SOUL.md
- Publishes /social/personality/state (PersonalityState) at publish_rate Hz
- /social/personality/query_mood (QueryMood) service for on-demand mood query
- Full ROS2 dynamic reconfigure: soul_file, db_path, reload_interval, publish_rate
- 52 unit tests, no ROS2 runtime required
ROS2 interfaces:
Sub: /social/person_detected (std_msgs/String JSON)
Pub: /social/personality/state (saltybot_social_msgs/PersonalityState)
Srv: /social/personality/query_mood (saltybot_social_msgs/QueryMood)
2026-03-01 23:56:05 -05:00
5143e5bfac
feat(social): Issue #86 — physical expression + motor attention
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ESP32-C3 NeoPixel sketch (esp32/social_expression/social_expression.ino):
- Adafruit NeoPixel + ArduinoJson, serial JSON protocol 115200 8N1
- Mood→colour: happy=green, curious=blue, annoyed=red, playful=rainbow
- Idle breathing animation (sine-modulated warm white)
- Auto-falls to idle after IDLE_TIMEOUT_MS (3 s) with no command
ROS2 saltybot_social_msgs (new package):
- Mood.msg — {mood, intensity}
- Person.msg — {track_id, bearing_rad, distance_m, confidence, is_speaking, source}
- PersonArray.msg — {persons[], active_id}
ROS2 saltybot_social (new package):
- expression_node: subscribes /social/mood → JSON serial to ESP32-C3
reconnects on port error; sends idle frame after idle_timeout_s
- attention_node: subscribes /social/persons → /cmd_vel rotation-only
proportional control with dead zone; prefers active speaker, falls
back to highest-confidence person; lost-target idle after 2 s
- launch/social.launch.py — combined launch
- config YAML for both nodes with documented parameters
- test/test_attention.py — 15 pytest-only unit tests
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 23:35:59 -05:00
