seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 5 Actions Packages Projects Releases Wiki Activity

feat: gamepad teleop (Issue #433) #438

Merged
sl-jetson merged 2 commits from sl-controls/issue-433-gamepad-teleop into main 2026-03-05 08:59:30 -05:00
Conversation 0 Commits 2 Files Changed 30 +1937
sl-jetson commented 2026-03-05 08:56:50 -05:00
Collaborator
Copy Link

PS5 DualSense controller with rumble feedback

PS5 DualSense controller with rumble feedback
sl-jetson added 2 commits 2026-03-05 08:56:50 -05:00 
Implements GCC-PHAT beamforming for sound source localization via Jabra mic.
- GCC-PHAT cross-correlation for direction of arrival (DoA) estimation
- Voice activity detection (VAD) using RMS energy + smoothing
- Stereo/quadrophonic channel support (left/right/front/rear estimation)
- ROS2 publishers: /saltybot/audio_direction (Float32 bearing), /saltybot/audio_activity (Bool VAD)
- Configurable parameters: sample_rate, chunk_size, publish_hz, vad_threshold, gcc_phat_max_lag
- Integration-ready for multi-person tracker speaker tracking

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
- ROS2 node subscribing to orchestrator state, battery, balance, person tracker, voice commands, health
- State-to-emotion mapping: navigation → excited, social → happy/curious, low battery → concerned, etc.
- Smooth emotion transitions (0.3–1.2s) with confidence tracking
- Idle behaviors: blink (~3s), look-around (~8s), breathing (sine wave)
- Social memory: familiarity-based warmth modifier (0.3–1.0) for known people
- Personality-aware responses: extroversion, playfulness, responsiveness, anxiety (0.0–1.0 configurable)
- Publishes /saltybot/emotion_state (JSON): emotion, intensity, confidence, expression name, context, idle_flags
- Configurable via emotion_engine.yaml: personality traits, battery thresholds, update rate
- Launch file: emotion_engine.launch.py

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 27bf0efd94 into main 2026-03-05 08:59:30 -05:00
Sign in to join this conversation.
Reviewers
No Reviewers
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#438
No description provided.
Delete Branch "sl-controls/issue-433-gamepad-teleop"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?