311 Commits

Author	SHA1	Message	Date
sl-perception	c620dc51a7	feat: Add Issue #363 — P0 person tracking for follow-me mode ... Implements real-time person detection + tracking pipeline for the follow-me motion controller on Jetson Orin Nano Super (D435i). Core components - TargetTrack.msg: bearing_deg, distance_m, confidence, bbox, vel_bearing_dps, vel_dist_mps, depth_quality (0-3) - _person_tracker.py (pure-Python, no ROS2/runtime deps): · 8-state constant-velocity Kalman filter [cx,cy,w,h,vcx,vcy,vw,vh] · Greedy IoU data association · HSV torso colour histogram re-ID (16H×8S, Bhattacharyya similarity) with fixed saturation clamping (s = (cmax−cmin)/cmax, clipped to [0,1]) · FollowTargetSelector: nearest person auto-lock, hold_frames hysteresis · TENTATIVE→ACTIVE after min_hits; LOST track removal after max_lost_frames with per-frame lost_age increment across all LOST tracks · bearing_from_pixel, depth_at_bbox (median, quality flags) - person_tracking_node.py: · YOLOv8n via ultralytics (TRT FP16 on first run) → HOG+SVM fallback · Subscribes colour + depth + camera_info + follow_start/stop · Publishes /saltybot/target_track at ≤30 fps - test/test_person_tracker.py: 59/59 tests passing Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 15:19:02 -05:00
sl-perception	672120bb50	feat(perception): geometric face emotion classifier (Issue #359) ... Classifies facial expressions into neutral/happy/surprised/angry/sad using geometric rules over MediaPipe Face Mesh landmarks — no ML model required at runtime. Rules ----- surprised: brow_raise > 0.12 AND eye_open > 0.07 AND mouth_open > 0.07 happy: smile > 0.025 (lip corners above lip midpoint) angry: brow_furl > 0.02 AND smile < 0.01 sad: smile < -0.025 AND brow_furl < 0.015 neutral: default Changes ------- - saltybot_scene_msgs/msg/FaceEmotion.msg — per-face emotion + features - saltybot_scene_msgs/msg/FaceEmotionArray.msg - saltybot_scene_msgs/CMakeLists.txt — register new msgs - _face_emotion.py — pure-Python: FaceLandmarks, compute_features, classify_emotion, detect_emotion, from_mediapipe - face_emotion_node.py — subscribes /camera/color/image_raw, publishes /saltybot/face_emotions (≤15 fps) - test/test_face_emotion.py — 48 tests, all passing - setup.py — add face_emotion entry point Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 14:39:49 -05:00
sl-jetson	f7f89403d5	Merge pull request 'feat(social): system resource monitor for Jetson Orin (Issue #355)' (#357) from sl-jetson/issue-355-sysmon into main	2026-03-03 14:32:49 -05:00
sl-perception	677e6eb75e	feat(perception): MFCC nearest-centroid audio scene classifier (Issue #353) ... Classifies ambient audio into indoor/outdoor/traffic/park at 1 Hz using a 16-d feature vector (13 MFCC + spectral centroid + rolloff + ZCR) with a normalised nearest-centroid classifier. Centroids are computed at import time from seeded synthetic prototypes, ensuring deterministic behaviour. Changes ------- - saltybot_scene_msgs/msg/AudioScene.msg — label + confidence + features[16] - saltybot_scene_msgs/CMakeLists.txt — register AudioScene.msg - _audio_scene.py — pure-numpy feature extraction + NearestCentroidClassifier - audio_scene_node.py — subscribes /audio/audio, publishes /saltybot/audio_scene - test/test_audio_scene.py — 53 tests (all passing) with synthetic audio - setup.py — add audio_scene entry point Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 14:03:11 -05:00
sl-jetson	0af4441120	feat(social): system resource monitor for Jetson Orin (Issue #355) ... Polls /proc/stat (CPU delta), /proc/meminfo (RAM), os.statvfs (disk), /sys/devices/gpu.0/load (GPU), and thermal zone sysfs paths; publishes JSON payload on /saltybot/system_resources at 1 Hz. Pure helpers (parse_proc_stat, cpu_percent_from_stats, parse_meminfo, compute_ram_stats, read_disk_usage, read_gpu_load, read_thermal_zones) are all unit-tested offline. Injectable I/O on SysmonNode allows full node tick tests without /proc or /sys. 67/67 tests passing. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 13:54:31 -05:00
sl-perception	2a9b03dd76	feat(perception): depth-based obstacle size estimator (Issue #348) ... Projects LIDAR clusters into the D435i depth image to estimate 3-D obstacle width and height in metres. - saltybot_scene_msgs/msg/ObstacleSize.msg — new message - saltybot_scene_msgs/msg/ObstacleSizeArray.msg — array wrapper - saltybot_scene_msgs/CMakeLists.txt — register new msgs - saltybot_bringup/_obstacle_size.py — pure-Python helper: CameraParams (intrinsics + LIDAR→camera extrinsics) ObstacleSizeEstimate (NamedTuple) lidar_to_camera() LIDAR frame → camera frame transform project_to_pixel() pinhole projection + bounds check sample_depth_median() uint16 depth image window → median metres estimate_height() vertical strip scan for row extent → height_m estimate_cluster_size() full pipeline: cluster → size estimate - saltybot_bringup/obstacle_size_node.py — ROS2 node sub: /scan, /camera/depth/image_rect_raw, /camera/depth/camera_info pub: /saltybot/obstacle_sizes (ObstacleSizeArray) width from LIDAR bbox; height from depth strip back-projection; graceful fallback (LIDAR-only) when depth image unavailable; intrinsics latched from CameraInfo on first arrival - test/test_obstacle_size.py — 33 tests, 33 passing - setup.py — add obstacle_size entry Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 13:32:41 -05:00
sl-jetson	813d6f2529	feat(social): trigger-based ROS2 bag recorder (Issue #332) ... BagRecorderNode: subscribes /saltybot/record_trigger (Bool), spawns ros2 bag record subprocess, drives idle/recording/stopping/error state machine; auto-stop timeout, SIGINT graceful shutdown with SIGKILL fallback. Publishes /saltybot/recording_status (String). Configurable topics (csv), bag_dir, prefix, compression, size limit. Subprocess injectable for offline testing. 101/101 tests pass. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 13:19:49 -05:00
sl-jetson	a0f3677732	Merge pull request 'feat: Add pure pursuit path follower for Nav2 (Issue #333)' (#334) from sl-controls/issue-333-pure-pursuit into main	2026-03-03 13:19:29 -05:00
sl-perception	1729e43964	feat(perception): MediaPipe hand tracking — Leap Motion pivot (Issue #342) ... PART 1 AUDIT: Zero Leap Motion / UltraLeap references found in any saltybot_* package. Existing gesture_node.py (saltybot_social) already uses MediaPipe — no cleanup required. PART 2 NEW PACKAGES: saltybot_hand_tracking_msgs (ament_cmake) - HandLandmarks.msg — 21 landmarks (float32[63]), handedness, gesture label + direction, wrist position - HandLandmarksArray.msg saltybot_hand_tracking (ament_python) - _hand_gestures.py — pure-Python gesture classifier (no ROS2/MP deps) Vocabulary: stop (open palm) → pause/stop, point (index up) → direction command + 8-compass, disarm (fist) → emergency-off, confirm (thumbs-up) → confirm action, follow_me (peace sign) → follow mode, greeting (wrist oscillation) → greeting response WaveDetector: sliding-window lateral wrist tracking - hand_tracking_node.py — ROS2 node sub: /camera/color/image_raw (BEST_EFFORT) pub: /saltybot/hands (HandLandmarksArray) /saltybot/hand_gesture (std_msgs/String) MediaPipe model_complexity=0 (lite) for 20+ FPS on Orin Nano Super; background MP init thread; per-hand WaveDetector instances - test/test_hand_gestures.py — 35 tests, 35 passing Covers: Landmark, HandGestureResult, WaveDetector, all 6 gesture classifiers, priority ordering, direction vectors, confidence bounds Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 12:47:22 -05:00
sl-perception	bd9cb6da35	feat(perception): lane/path edge detector (Issue #339) ... Adds Canny+Hough+bird-eye perspective pipeline for detecting left/right path edges from the forward camera. Pure-Python helper (_path_edges.py) is fully tested; ROS2 node publishes PathEdges on /saltybot/path_edges. - saltybot_scene_msgs/msg/PathEdges.msg — new message - saltybot_scene_msgs/CMakeLists.txt — register PathEdges.msg - saltybot_bringup/_path_edges.py — PathEdgeConfig, PathEdgesResult, build/apply_homography, canny_edges, hough_lines, classify_lines, average_line, warp_segments, process_frame - saltybot_bringup/path_edges_node.py — ROS2 node (sensor_msgs/Image → PathEdges, parameters for all tunable Canny/Hough/birdseye params) - test/test_path_edges.py — 38 tests, 38 passing - setup.py — add path_edges console_script Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 11:33:22 -05:00
sl-perception	eb61207532	feat(perception): dynamic obstacle velocity estimator (Issue #326) ... Adds ObstacleVelocity/ObstacleVelocityArray msgs and an ObstacleVelocityNode that clusters /scan points, tracks each centroid with a constant-velocity Kalman filter, and publishes velocity vectors on /saltybot/obstacle_velocities. New messages (saltybot_scene_msgs): msg/ObstacleVelocity.msg — obstacle_id, centroid, velocity, speed_mps, width_m, depth_m, point_count, confidence, is_static msg/ObstacleVelocityArray.msg — array wrapper with header New files (saltybot_bringup): saltybot_bringup/_obstacle_velocity.py — pure helpers (no ROS2 deps) KalmanTrack constant-velocity 2-D KF: predict(dt) / update(centroid) coasting counter → alive flag; confidence = age/n_init associate() greedy nearest-centroid matching (O(N·M), strict <) ObstacleTracker predict-all → associate → update/spawn → prune cycle saltybot_bringup/obstacle_velocity_node.py Subscribes /scan (BEST_EFFORT); reuses _lidar_clustering helpers; publishes ObstacleVelocityArray on /saltybot/obstacle_velocities Parameters: distance_threshold_m=0.20, min_points=3, range 0.05–12m, max_association_dist_m=0.50, max_coasting_frames=5, n_init_frames=3, q_pos=0.05, q_vel=0.50, r_pos=0.10, static_speed_threshold=0.10 test/test_obstacle_velocity.py — 48 tests, all passing Modified: saltybot_scene_msgs/CMakeLists.txt — register new msgs saltybot_bringup/setup.py — add obstacle_velocity console_script Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 06:53:04 -05:00
sl-controls	1c8430e68a	feat: Add pure pursuit path follower for Nav2 (Issue #333) ... Implements saltybot_pure_pursuit package: - Pure pursuit algorithm for path following with configurable parameters - Lookahead distance (0.5m default) for target point on path - Goal tolerance (0.1m) for goal detection - Heading error correction to reduce speed when misaligned with path - Publishes Twist commands on /cmd_vel_tracked for Nav2 integration - Subscribes to /odom (odometry) and /path (Path trajectory) - Tracks and publishes cross-track error for monitoring Pure pursuit geometry: - Finds closest point on path to robot current position - Looks ahead specified distance along path from closest point - Computes steering angle to follow circular arc to lookahead point - Reduces linear velocity when heading error is large (with correction enabled) - Clamps velocities to configurable maximums Configuration parameters: - lookahead_distance: 0.5m (typical range: 0.1-1.0m) - goal_tolerance: 0.1m (distance to goal before stopping) - heading_tolerance: 0.1 rad (unused but can support in future) - max_linear_velocity: 1.0 m/s - max_angular_velocity: 1.57 rad/s - use_heading_correction: true (reduces speed on large heading errors) Comprehensive test suite: 20+ tests covering: - Geometric calculations (distance, quaternion conversions) - Path following logic (empty path, straight/curved/spiral paths) - Steering calculations (heading errors, velocity limits) - Edge cases and realistic scenarios - Control loop integration - Parameter variations Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-03 06:47:45 -05:00
sl-perception	4dbb4c6f0d	feat(perception): appearance-based person re-identification (Issue #322) ... Adds PersonTrack/PersonTrackArray msgs and a PersonReidNode that matches individuals across camera views using HSV colour histogram appearance features and cosine similarity, with EMA gallery update and 30s stale timeout. New messages (saltybot_scene_msgs): msg/PersonTrack.msg — track_id, camera_id, bbox, confidence, first_seen, last_seen, is_stale msg/PersonTrackArray.msg — array wrapper with header New files (saltybot_bringup): saltybot_bringup/_person_reid.py — pure kinematics (no ROS2 deps) extract_hsv_histogram() 2-D HS histogram (H=16, S=8 → 128-dim, L2-norm) cosine_similarity() handles zero/non-unit vectors match_track() best gallery match above threshold (strict >) TrackGallery add/update/match/mark_stale/prune_stale TrackEntry mutable dataclass; EMA feature blend (α=0.3) saltybot_bringup/person_reid_node.py Subscribes /camera/color/image_raw + /saltybot/scene/objects (BEST_EFFORT) Crops COCO person (class_id=0) ROIs; extracts features; matches gallery Publishes PersonTrackArray on /saltybot/person_tracks at 5 Hz Parameters: camera_id, similarity_threshold=0.75, stale_timeout_s=30, max_tracks=20, publish_hz=5.0 test/test_person_reid.py — 50 tests, all passing Modified: saltybot_scene_msgs/CMakeLists.txt — register PersonTrack/Array msgs saltybot_bringup/setup.py — add person_reid console_script Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 06:45:43 -05:00
sl-jetson	f506c89960	Merge pull request 'feat(social): USB camera hot-plug monitor (Issue #320)' (#328) from sl-jetson/issue-320-camera-hotplug into main	2026-03-03 06:45:23 -05:00
sl-jetson	a3386e1694	feat(social): USB camera hot-plug monitor (Issue #320) ... Polls /dev/video* at 2 Hz, drives a three-state machine (connected/disconnected/restarting) and publishes to /saltybot/camera_status (std_msgs/String). Reconnects within restart_grace_s (5 s) → 'restarting' held for restart_hold_s (2 s) to signal downstream capture pipelines to restart. Scan function is injected for offline testing. 82/82 tests pass. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 00:47:27 -05:00
sl-controls	45828b1cc2	feat: Add battery-aware speed limiter ROS2 node (Issue #321) ... Implements saltybot_battery_speed_limiter package: - Subscribes to /saltybot/battery_state, publishes speed limit factor - Battery percentage thresholds: 100-50%=1.0, 50-25%=0.7, 25-15%=0.4, <15%=0.0 - Reduces speed to preserve battery when running low - Automatically stops movement below 15% to prevent deep discharge - Configurable thresholds and speed factors - Comprehensive test suite: 30+ tests covering all threshold transitions - Handles both direct percentage and voltage-based fallback calculation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-03 00:46:12 -05:00
sl-perception	067a871103	feat(perception): wheel encoder differential drive odometry (Issue #184) ... Adds saltybot_bridge_msgs package with WheelTicks.msg (int32 left/right encoder counts) and a WheelOdomNode that subscribes to /saltybot/wheel_ticks, integrates midpoint-Euler differential drive kinematics (handling int32 counter rollover), and publishes nav_msgs/Odometry on /odom_wheel at 50 Hz with optional TF broadcast. New files: jetson/ros2_ws/src/saltybot_bridge_msgs/ msg/WheelTicks.msg CMakeLists.txt, package.xml jetson/ros2_ws/src/saltybot_bringup/ saltybot_bringup/_wheel_odom.py — pure kinematics (no ROS2 deps) saltybot_bringup/wheel_odom_node.py — 50 Hz timer node + TF broadcast test/test_wheel_odom.py — 42 tests, all passing Modified: saltybot_bringup/package.xml — add saltybot_bridge_msgs, nav_msgs deps saltybot_bringup/setup.py — add wheel_odom console_script entry Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 00:41:39 -05:00
sl-jetson	b96c6b96d0	Merge pull request 'feat(social): audio wake-word detector 'hey salty' (Issue #320)' (#317) from sl-jetson/wake-word-detect into main	2026-03-03 00:41:22 -05:00
sl-jetson	d6553ce3d6	feat(social): audio wake-word detector 'hey salty' (Issue #320) ... Energy-gated log-mel + cosine-similarity wake-word node. Subscribes to /social/speech/audio_raw (PCM-16 UInt8MultiArray), maintains a 1.5 s sliding ring buffer, runs detection every 100 ms; fires Bool(True) on /saltybot/wake_word_detected with 2 s cooldown. Template loaded from .npy file; passive (no detections) when template_path is empty. 91/91 tests pass. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-03 00:26:59 -05:00
sl-controls	2919e629e9	feat: Add velocity smoothing filter with Butterworth low-pass filtering ... Implements saltybot_velocity_smoother package: - Subscribes to /odom, applies digital Butterworth low-pass filter - Filters linear (x,y,z) and angular (x,y,z) velocity components independently - Publishes smoothed odometry on /odom_smooth - Reduces encoder jitter and improves state estimation stability - Configurable filter order (1-4), cutoff frequency (Hz), publish rate - Can be enabled/disabled via enable_smoothing parameter - Comprehensive test suite: 18+ tests covering filter behavior, edge cases, scenarios Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-03 00:23:53 -05:00
sl-jetson	d468cb515e	Merge pull request 'feat(social): personal space respector node (Issue #310)' (#314) from sl-jetson/issue-310-personal-space into main	2026-03-03 00:20:10 -05:00
sl-jetson	0b35a61217	Merge pull request 'feat(perception): sky detector for outdoor navigation (Issue #307)' (#313) from sl-perception/issue-307-sky-detect into main	2026-03-03 00:20:03 -05:00
sl-jetson	b8a14e2bfc	feat(social): personal space respector node (Issue #310) ... Subscribes /social/faces/detected + /social/person_states; backs robot away (cmd_vel linear.x = -backup_speed) when closest person <= 0.8 m, latches /saltybot/too_close Bool; hysteresis band prevents chatter. 92/92 tests pass. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 21:42:33 -05:00
sl-perception	e24c0b2e26	feat(perception): sky detector for outdoor navigation — Issue #307 ... - Add _sky_detector.py: SkyResult NamedTuple; detect_sky() with dual HSV band masking (blue sky H∈[90,130]/S∈[40,255]/V∈[80,255] OR overcast S∈[0,50]/V∈[185,255]), cv2.bitwise_or combined mask; sky_fraction over configurable top scan_frac region; horizon_y = bottommost row where per-row sky fraction ≥ row_threshold (−1 when no sky detected) - Add sky_detect_node.py: subscribes /camera/color/image_raw (BEST_EFFORT), publishes Float32 /saltybot/sky_fraction and Int32 /saltybot/horizon_y per frame; scan_frac (default 0.60) and row_threshold (default 0.30) params - Register sky_detector console script in setup.py - 33/33 unit tests pass (no ROS2 required) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 21:39:28 -05:00
sl-controls	fc87862603	feat(controls): Adaptive PID gain scheduler (Issue #309) ... Implements ROS2 adaptive PID gain scheduler for SaltyBot with: - Subscribes to /saltybot/speed_scale for speed conditions - Subscribes to /saltybot/terrain_roughness for surface conditions - Adjusts PID gains dynamically: * P gain increases with terrain roughness (better response on rough) * D gain decreases at low speed (prevent oscillation when slow) * I gain scales with both conditions for stability - Publishes Float32MultiArray [Kp, Ki, Kd] on /saltybot/pid_gains - Configurable scaling factors for each gain modulation - Includes 18+ unit tests for gain scheduling logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 21:37:08 -05:00
sl-jetson	becd0bc717	Merge pull request 'feat(perception): terrain roughness estimator via Gabor + LBP (Issue #296)' (#305) from sl-perception/issue-296-terrain-rough into main	2026-03-02 21:35:40 -05:00
sl-jetson	a8838cfbbd	Merge pull request 'feat(social): conversation topic memory (Issue #299)' (#304) from sl-jetson/issue-299-topic-memory into main	2026-03-02 21:35:35 -05:00
sl-perception	3bf603f685	feat(perception): terrain roughness estimator via Gabor + LBP — Issue #296 ... - Add _terrain_roughness.py: RoughnessResult NamedTuple; gabor_energy() with 4-orientation × 2-wavelength (5px, 10px) quadrature Gabor bank, DC removal via image mean subtraction (prevents false high energy on uniform surfaces); lbp_variance() using 8-point radius-1 LBP in vectorised numpy slice comparisons (no sklearn); estimate_roughness() with bottom roi_frac crop, normalised blend roughness = 0.5*(gabor/500) + 0.5*(lbp/5000) clipped [0,1] - Add terrain_rough_node.py: subscribes /camera/color/image_raw (BEST_EFFORT), publishes Float32 /saltybot/terrain_roughness at 2Hz (configurable via publish_hz param); roi_frac param default 0.40 (bottom 40% = floor region) - Register terrain_roughness console script in setup.py - 37/37 unit tests pass (no ROS2 required) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 21:12:51 -05:00
sl-jetson	797ed711b9	feat(social): conversation topic memory — Issue #299 ... Adds topic_memory_node to saltybot_social: - Subscribes /social/conversation_text (String, JSON {person_id, text}) - Extracts keywords via stop-word filtered pipeline: lowercase -> strip punctuation -> filter length/alpha -> remove stop words -> deduplicate -> cap at max_keywords_per_msg - Maintains per-person rolling topic history (PersonTopicMemory): ordered list, dedup with recency promotion, capped at max_topics_per_person, evicts oldest when full - Prunes persons idle for > prune_after_s (default 30 min; 0=disabled) - Publishes JSON on /saltybot/conversation_topics on each utterance: {person_id, recent_topics (most-recent first), new_topics, ts} - Enables recall like 'last time you mentioned X' - 71/71 tests passing Closes #299	2026-03-02 21:11:14 -05:00
sl-controls	bfd291cbdd	feat(controls): Geofence boundary enforcer (Issue #298) ... Implements ROS2 geofence enforcer for SaltyBot with: - Loads polygon geofence from params (list of x/y vertices) - Subscribes to /odom for real-time robot position - Point-in-polygon ray casting algorithm for boundary checking - Publishes Bool on /saltybot/geofence_breach on boundary violation - Optional enforcement flag for cmd_vel zeroing - Configurable safety margin - Includes 20+ unit tests for geometry and breach detection Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 21:06:58 -05:00
sl-jetson	b087af4b94	Merge pull request 'feat(social): speech volume auto-adjuster (Issue #289)' (#293) from sl-jetson/issue-289-volume-adjust into main	2026-03-02 21:05:28 -05:00
sl-jetson	1a47abf5ae	Merge pull request 'feat(perception): motion blur detector via Laplacian variance (Issue #286)' (#292) from sl-perception/issue-286-blur-detect into main	2026-03-02 21:05:23 -05:00
sl-jetson	e8b787a987	feat(social): speech volume auto-adjuster — Issue #289 ... Adds volume_adjust_node to saltybot_social: - Subscribes /social/speech/energy (Float32 linear RMS [0..1] from vad_node) - Maps energy to TTS volume via: 1. Normalise into [noise_floor, noise_ceil] 2. Power-curve shaping (curve_gamma; <1 concave, 1 linear, >1 convex) 3. Lerp to [min_volume, max_volume] 4. Exponential moving-average smoothing (smoothing_alpha) - Publishes Float32 on /saltybot/tts_volume at publish_rate Hz (default 5 Hz) - Holds last value when energy is stale (> stale_timeout_s) - All params exposed: min/max_volume, noise_floor/ceil, curve_gamma, smoothing_alpha, publish_rate, stale_timeout_s - 74/74 tests passing Closes #289	2026-03-02 20:47:53 -05:00
sl-perception	c5f3a5b2ce	feat(perception): motion blur detector via Laplacian variance — Issue #286 ... - Add _blur_detector.py: BlurResult NamedTuple, laplacian_variance() (ksize=3 Laplacian on greyscale, with optional ROI crop), detect_blur() returning variance + is_blurred flag + threshold; handles greyscale and BGR inputs, empty ROI returns 0.0 - Add blur_detect_node.py: subscribes /camera/color/image_raw (BEST_EFFORT), publishes Bool /saltybot/image_blurred and Float32 /saltybot/blur_score per frame; threshold and roi_frac ROS params - Register blur_detector console script in setup.py - 25/25 unit tests pass (no ROS2 required) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 20:46:37 -05:00
sl-controls	dab0f96399	feat(controls): Cliff and drop-off detection safety node (Issue #288) ... Implements ROS2 cliff detector for SaltyBot with: - Subscribes to /saltybot/cliff_sensors (IR range array) - Threshold-based detection (default 0.5m) - Debouncing (3 consecutive frames) for robustness - Majority voting (min 2 sensors) for safety - Publishes Bool on /saltybot/cliff_detected - Emergency stop trigger on cliff/drop-off detection - Includes 15+ unit tests for detection logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 20:45:21 -05:00
sl-jetson	d1f0e95fa2	Merge pull request 'feat(social): face-tracking head servo controller (Issue #279)' (#284) from sl-jetson/issue-279-face-track-servo into main	2026-03-02 20:44:00 -05:00
sl-jetson	5f3b5caef7	Merge pull request 'IMU calibration routine (Issue #278)' (#282) from sl-controls/issue-278-imu-cal into main	2026-03-02 20:43:52 -05:00
sl-jetson	c3d36e9943	feat(social): face-tracking head servo controller — Issue #279 ... Adds face_track_servo_node to saltybot_social: - Subscribes /social/faces/detected (FaceDetectionArray) - Picks closest face by largest bbox area (proximity proxy) - Computes pan/tilt error from bbox centre vs image centre using configurable FOV (fov_h_deg=60°, fov_v_deg=45°) - Independent PID controllers for pan and tilt (velocity/incremental output with anti-windup); servo position integrates velocity*dt - Clamps commands to ±pan_limit_deg / ±tilt_limit_deg - Returns to centre at return_rate_deg_s when face lost >lost_timeout_s - Dead zone suppresses jitter for small errors - Publishes Float32 on /saltybot/head_pan and /saltybot/head_tilt - 81/81 tests passing Closes #279	2026-03-02 17:38:02 -05:00
sl-controls	dd033b9827	feat(controls): IMU calibration routine (Issue #278) ... Implements ROS2 IMU gyro + accel calibration node with: - Service-triggered calibration via /saltybot/calibrate_imu - Optional auto-calibration on startup (configurable) - Collects N stationary samples (default 100) - Computes mean bias offsets for gyro and accel - Publishes bias-corrected IMU on /imu/calibrated - Includes 10+ unit tests for calibration logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 17:35:30 -05:00
sl-perception	f5093ecd34	feat(perception): HSV color object segmenter — Issue #274 ... - Add ColorDetection.msg + ColorDetectionArray.msg to saltybot_scene_msgs - Add _color_segmenter.py: HsvRange/ColorBlob types, COLOR_RANGES defaults, mask_for_color() (dual-band red wrap), find_color_blobs() with morph open, contour extraction, area filter and max-blob-per-color limit - Add color_segment_node.py: subscribes /camera/color/image_raw (BEST_EFFORT), publishes /saltybot/color_objects (ColorDetectionArray) per frame; active_colors, min_area_px, max_blobs_per_color params - Add saltybot_scene_msgs exec_depend to saltybot_bringup/package.xml - Register color_segmenter console_script in setup.py - 34/34 unit tests pass (no ROS2 required) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 17:32:41 -05:00
sl-jetson	30ad71e7d8	Merge pull request 'feat(social): proximity-based greeting trigger (Issue #270)' (#272) from sl-jetson/issue-270-greeting-trigger into main	2026-03-02 17:30:54 -05:00
sl-controls	5108fa8fa1	feat(controls): Wheel slip detector (Issue #262) ... Detect wheel slip by comparing commanded velocity vs actual encoder velocity. Publishes Bool flag on /saltybot/wheel_slip_detected when slip detected >0.5s. Features: - Subscribe to /cmd_vel (commanded) and /odom (actual velocity) - Compare velocity magnitudes with 0.1 m/s threshold - Persistence: slip must persist >0.5s to trigger (debounces transients) - Publish Bool on /saltybot/wheel_slip_detected with detection status - 10Hz monitoring frequency, configurable parameters Algorithm: - Compute linear speed from x,y components - Calculate velocity difference - If exceeds threshold: increment slip duration - If duration > timeout: declare slip detected Benefits: - Detects environmental slip (ice, mud, wet surfaces) - Triggers speed reduction to maintain traction - Prevents wheel spinning/rut digging - Safety response for loss of grip Topics: - Subscribed: /cmd_vel (Twist), /odom (Odometry) - Published: /saltybot/wheel_slip_detected (Bool) Config: frequency=10Hz, slip_threshold=0.1 m/s, slip_timeout=0.5s Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 17:29:03 -05:00
sl-jetson	c7dd07f9ed	feat(social): proximity-based greeting trigger — Issue #270 ... Adds greeting_trigger_node to saltybot_social: - Subscribes to /social/faces/detected (FaceDetectionArray) for face arrivals - Subscribes to /social/person_states (PersonStateArray) to cache face_id→distance - Fires greeting when face_id is within proximity_m (default 2m) and not in per-face_id cooldown window (default 300s) - Publishes JSON on /saltybot/greeting_trigger: {face_id, person_name, distance_m, ts} - unknown_distance param controls assumed distance for faces with no PersonState yet - Thread-safe distance cache and greeted map - 50/50 tests passing Closes #270	2026-03-02 17:26:40 -05:00
sl-perception	f0e11fe7ca	feat(bringup): depth image hole filler via bilateral interpolation (Issue #268) ... Adds multi-pass spatial-Gaussian hole filler for D435i depth images. Each pass replaces zero/NaN pixels with the Gaussian-weighted mean of valid neighbours in a growing kernel (×1, ×2.5, ×6 default); original valid pixels are never modified. Handles uint16 mm → float32 m conversion, border pixels via BORDER_REFLECT, and above-d_max pixels as holes. Publishes filled float32 depth on /camera/depth/filled at camera rate. 37/37 pure-Python tests pass (no ROS2 required). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 14:19:27 -05:00
sl-jetson	477258f321	Merge pull request 'feat(webui): waypoint editor with click-to-navigate (#261)' (#267) from sl-webui/issue-261-waypoint-editor-fix into main	2026-03-02 14:13:54 -05:00
sl-jetson	94a6f0787e	Merge pull request 'feat(bringup): visual odometry drift detector (Issue #260)' (#265) from sl-perception/issue-260-vo-drift into main	2026-03-02 14:13:34 -05:00
sl-webui	c865e84e16	feat(webui): waypoint editor with click-to-navigate (Issue #261) ... Interactive waypoint editor for Nav2 goal-based navigation: - Click on map display to place waypoints - Drag waypoints in list to reorder navigation sequence - Right-click waypoints to delete them - Visual waypoint overlay on map with numbering - Robot position indicator at center - Waypoint list sidebar with selection and ordering - Send Nav2 goal to individual selected waypoint - Execute all waypoints in sequence with automatic progression - Clear all waypoints button - Real-time coordinate display and robot pose tracking - Integrated into new NAVIGATION tab group - Uses /navigate_to_pose service for goal publishing Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 13:28:01 -05:00
sl-perception	9d12805843	feat(bringup): visual odometry drift detector (Issue #260) ... Adds sliding-window drift detector that compares cumulative path lengths of visual odom and wheel odom over a configurable window (default 10 s). Drift = |vo_path − wheel_path|; flagged when ≥ 0.5 m (configurable). OdomBuffer handles per-source rolling storage with automatic age eviction. Publishes Bool on /saltybot/vo_drift_detected and Float32 on /saltybot/vo_drift_magnitude at 2 Hz. 27/27 pure-Python tests pass. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 13:26:07 -05:00
sl-jetson	3cd9faeed9	feat(social): ambient sound classifier via mel-spectrogram — Issue #252 ... Adds ambient_sound_node to saltybot_social: - Accumulates 1 s of PCM-16 audio from /social/speech/audio_raw - Extracts mel-spectrogram feature vector (energy_db, zcr, mel_centroid, mel_flatness, low_ratio, high_ratio) using pure numpy (no torch/onnx) - Priority-cascade classifier: silence → music → speech → crowd → outdoor → alarm - Publishes label as std_msgs/String on /saltybot/ambient_sound on each buffer fill - All 11 thresholds exposed as ROS parameters (yaml + launch file) - numpy-free energy-only fallback for edge environments - 77/77 tests passing Closes #252	2026-03-02 13:22:38 -05:00
sl-jetson	a55cd9c97f	Merge pull request 'feat(bringup): floor surface type classifier on D435i RGB (Issue #249)' (#256) from sl-perception/issue-249-floor-classifier into main	2026-03-02 13:22:17 -05:00