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Person-following head tracking with RealSense #549

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opened 2026-03-14 09:57:16 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 09:57:16 -04:00
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Implement ROS2 node for automatic person-following head tracking using RealSense D435i.

Requirements:

  • Subscribe to person detection bounding boxes (from perception pipeline)
  • Compute pan/tilt angles to center detected person in frame
  • Publish gimbal commands to /saltybot/gimbal/cmd
  • Smooth PID tracking (avoid jerky motion)
  • Lost-target behavior: hold last position for 3s, then return to center
  • Priority: closest person, or person with highest confidence
  • Configurable tracking speed and deadband

Deliverables:

  • ROS2 Python package: saltybot_head_tracking
  • Launch file + params YAML
  • Depends on gimbal control node

Assigned to: sl-perception

Implement ROS2 node for automatic person-following head tracking using RealSense D435i. **Requirements:** - Subscribe to person detection bounding boxes (from perception pipeline) - Compute pan/tilt angles to center detected person in frame - Publish gimbal commands to /saltybot/gimbal/cmd - Smooth PID tracking (avoid jerky motion) - Lost-target behavior: hold last position for 3s, then return to center - Priority: closest person, or person with highest confidence - Configurable tracking speed and deadband **Deliverables:** - ROS2 Python package: saltybot_head_tracking - Launch file + params YAML - Depends on gimbal control node Assigned to: sl-perception
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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#549
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