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[P2] Curiosity behavior — autonomous exploration when idle #470

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opened 2026-03-05 12:07:04 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 12:07:04 -05:00
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Goal

When SaltyBot has no task and no people around, it should explore its environment with curiosity.

Requirements

  • ROS2 node: activate when idle >60s and no people detected
  • Frontier exploration: move toward unexplored areas on the obstacle map
  • Interest points: pause at new objects, pan-tilt look around, take photo
  • Sound reactions: turn toward sudden sounds (audio direction estimator)
  • Approach interesting things: colorful objects, moving things, pets
  • Self-narration via TTS: "Hmm, whats over here?" "Oh, thats interesting"
  • Curiosity level param: 0 (stay put) to 1.0 (explore everything)
  • Safety: respect geofence, obstacle avoidance, return to base if battery low
  • Publish /saltybot/curiosity_state (EXPLORING, INVESTIGATING, IDLE)
  • Time limit: max 10min exploration, then return to start position
## Goal When SaltyBot has no task and no people around, it should explore its environment with curiosity. ## Requirements - ROS2 node: activate when idle >60s and no people detected - Frontier exploration: move toward unexplored areas on the obstacle map - Interest points: pause at new objects, pan-tilt look around, take photo - Sound reactions: turn toward sudden sounds (audio direction estimator) - Approach interesting things: colorful objects, moving things, pets - Self-narration via TTS: "Hmm, whats over here?" "Oh, thats interesting" - Curiosity level param: 0 (stay put) to 1.0 (explore everything) - Safety: respect geofence, obstacle avoidance, return to base if battery low - Publish /saltybot/curiosity_state (EXPLORING, INVESTIGATING, IDLE) - Time limit: max 10min exploration, then return to start position
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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#470
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