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4 Commits

Author SHA1 Message Date
Sebastien Vayrette
868b453777 fix: resolve merge conflicts for voice router PR #499 (keep both docking + mission logging) 2026-03-05 19:25:23 -05:00
sl-perception
d770cb99a3 feat: Multi-sensor fusion for obstacle avoidance (Issue #490) 
- saltybot_sensor_fusion: ROS2 node for LIDAR + depth sensor fusion
- Fuses RPLIDAR A1M8 (360° 2D) + RealSense D435i (front 87° 3D)
- Message filters for time-synchronized sensor inputs
- Smart blind spot handling: rear/sides LIDAR-only, front uses both
- Publishes /scan_fused (unified LaserScan) + PointCloud2 for voxel layer
- Configurable front sector angle (±45°), range multiplier, max range limit
- Parameters: depth_range_multiplier=0.9 (safety margin), max_range=5m

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-05 17:05:25 -05:00
sl-mechanical
fabfd5e974 feat: TTS personality engine (Issue #494) 
Implement context-aware text-to-speech with emotion-driven expression for SaltyBot.

Features:
  ✓ Context-aware greetings (time of day, person names, emotion)
  ✓ Priority queue management (safety > social > idle)
  ✓ Emotion-based rate/pitch modulation (happy: faster+higher, sad: slower+lower)
  ✓ Integration with emotion engine (Issue #429) and TTS service (Issue #421)
  ✓ Configurable personality parameters
  ✓ Person recognition for personalized responses
  ✓ Queue management with 16-item buffer

Architecture:
  Node: tts_personality_node
    - Subscribes: /saltybot/tts_request, /saltybot/emotion_state, /saltybot/person_detected
    - Publishes: /saltybot/tts_command (formatted for TTS service), /saltybot/personality_state
    - Runs worker thread for asynchronous queue processing

Personality Parameters:
  - Name: "Luna" (default, configurable)
  - Speed modulation: happy=1.1x, sad=0.9x, neutral=1.0x
  - Pitch modulation: happy=1.15x, sad=0.85x, neutral=1.0x
  - Time-based greetings for 4 periods (morning, afternoon, evening, night)
  - Known people mapping for personalization

Queue Priority Levels:
  - SAFETY (3): Emergency/safety messages
  - SOCIAL (2): Greetings and interactions
  - IDLE (1): Commentary and chatter
  - NORMAL (0): Default messages

Files Created:
  - saltybot_tts_personality package with main personality node
  - config/tts_personality_params.yaml with configurable parameters
  - launch/tts_personality.launch.py for easy startup
  - Unit tests for personality context and emotion handling
  - Comprehensive README with usage examples

Integration Points:
  - Emotion engine (Issue #429): Listens to emotion updates
  - TTS service (Issue #421): Publishes formatted commands
  - Jabra SPEAK 810: Output audio device
  - Person tracking: Uses detected person names

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-05 17:05:11 -05:00
sl-webui
6d6909d9d9 feat: Voice command router (Issue #491) 
Natural language voice command routing with fuzzy matching for speech variations.

Supported Commands:
- Follow me / Come with me
- Stop / Halt / Freeze
- Go home / Return to dock / Charge
- Patrol / Autonomous mode
- Come here / Approach
- Sit / Sit down
- Spin / Rotate / Turn around
- Dance / Groove
- Take photo / Picture / Smile
- What's that / Identify / Recognize
- Battery status / Battery level

Features:
- Fuzzy matching (rapidfuzz token_set_ratio) with 75% threshold
- Multiple pattern support per command for natural variations
- Three routing types: velocity (/cmd_vel), actions (/saltybot/action_command), services
- Command monitoring via /saltybot/voice_command
- Graceful handling of unrecognized speech

Architecture:
- Input: /saltybot/speech/transcribed_text (lowercase text)
- Fuzzy match against 11 command groups with 40+ patterns
- Route to: /cmd_vel (velocity), /saltybot/action_command (actions), or services

Files:
- saltybot_voice_router_node.py: Main router with fuzzy matching
- launch/voice_router.launch.py: Launch configuration
- VOICE_ROUTER_README.md: Usage documentation

Dependencies:
- rapidfuzz: Fuzzy string matching for natural speech handling
- rclpy, std_msgs, geometry_msgs: ROS2 core

Performance: <100ms per command (fuzzy matching + routing)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-05 17:05:02 -05:00