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[P2] Trick routines — fun behaviors (spin, dance, nod, wave) #431

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opened 2026-03-05 08:51:35 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 08:51:35 -05:00
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Goal

Fun trick behaviors triggered by voice commands or remote control.

Tricks

  • spin: 360 rotation, configurable speed
  • dance: rhythmic left-right sway with head bobbing
  • nod: pan-tilt head nod (yes/no)
  • wave: if pan-tilt has enough range, do a greeting wave motion
  • celebrate: spin + face expression change + sound effect
  • shy: slowly back away + bashful face expression

Requirements

  • ROS2 action server /saltybot/perform_trick (TrickAction: trick_name, speed)
  • Subscribe to /saltybot/voice_command for trigger
  • Each trick is a timed sequence of /cmd_vel + pan_tilt + face commands
  • Safety: abort trick if obstacle detected during motion
  • Publish /saltybot/trick_state (PERFORMING, IDLE)
  • Cooldown: dont repeat same trick within 10s
## Goal Fun trick behaviors triggered by voice commands or remote control. ## Tricks - spin: 360 rotation, configurable speed - dance: rhythmic left-right sway with head bobbing - nod: pan-tilt head nod (yes/no) - wave: if pan-tilt has enough range, do a greeting wave motion - celebrate: spin + face expression change + sound effect - shy: slowly back away + bashful face expression ## Requirements - ROS2 action server /saltybot/perform_trick (TrickAction: trick_name, speed) - Subscribe to /saltybot/voice_command for trigger - Each trick is a timed sequence of /cmd_vel + pan_tilt + face commands - Safety: abort trick if obstacle detected during motion - Publish /saltybot/trick_state (PERFORMING, IDLE) - Cooldown: dont repeat same trick within 10s
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#431
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