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feat(social): person enrollment system #87 #95

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sl-jetson merged 1 commits from sl-perception/social-enrollment into main 2026-03-01 23:55:17 -05:00
Conversation 0 Commits 1 Files Changed 11 +712
sl-perception commented 2026-03-01 23:11:10 -05:00
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Implements Issue #87: persistent person enrollment.

Packages

saltybot_social_msgs

  • 6 messages: FaceDetection, FaceDetectionArray, FaceEmbedding, FaceEmbeddingArray, PersonState, PersonStateArray
  • 5 services: EnrollPerson, ListPersons, DeletePerson, UpdatePerson, GetFaceEmbedding

saltybot_social_enrollment

  • enrollment_node: ROS2 node coordinating enrollment
    • Forwards /social/enroll to face_recognizer service
    • Voice-triggered: "Remember me, my name is X" phrase detection
    • Gallery management: /social/persons/list|delete|update
    • Syncs DB from /social/faces/embeddings
  • enrollment_cli: CLI for enroll/list/delete/rename
  • PersonDB: Thread-safe SQLite-backed gallery (embeddings, voice samples)

Topics & Services

  • Sub: /social/faces/detections, /social/faces/embeddings, /social/speech/transcript
  • Srv: /social/enroll, /social/persons/list, /social/persons/delete, /social/persons/update
  • Pub: /social/faces/embeddings, /social/enrollment/status

Note: depends on saltybot_social_msgs (also included in PR #80, #82)

Implements Issue #87: persistent person enrollment. ## Packages ### saltybot_social_msgs - 6 messages: FaceDetection, FaceDetectionArray, FaceEmbedding, FaceEmbeddingArray, PersonState, PersonStateArray - 5 services: EnrollPerson, ListPersons, DeletePerson, UpdatePerson, GetFaceEmbedding ### saltybot_social_enrollment - **enrollment_node**: ROS2 node coordinating enrollment - Forwards /social/enroll to face_recognizer service - Voice-triggered: "Remember me, my name is X" phrase detection - Gallery management: /social/persons/list|delete|update - Syncs DB from /social/faces/embeddings - **enrollment_cli**: CLI for enroll/list/delete/rename - **PersonDB**: Thread-safe SQLite-backed gallery (embeddings, voice samples) ## Topics & Services - Sub: /social/faces/detections, /social/faces/embeddings, /social/speech/transcript - Srv: /social/enroll, /social/persons/list, /social/persons/delete, /social/persons/update - Pub: /social/faces/embeddings, /social/enrollment/status Note: depends on saltybot_social_msgs (also included in PR #80, #82)
sl-perception added 1 commit 2026-03-01 23:11:11 -05:00 
- saltybot_social_msgs: 6 msg + 5 srv definitions for social interaction
- saltybot_social_enrollment: enrollment_node + enrollment_cli
- PersonDB: thread-safe SQLite-backed gallery (embeddings, voice samples)
- Voice-triggered enrollment via "remember me my name is X" phrase
- CLI: enroll/list/delete/rename via ros2 run
- Services: /social/enroll, /social/persons/list|delete|update
- Gallery sync from /social/faces/embeddings topic
sl-perception force-pushed sl-perception/social-enrollment from 9a87794128 to 5c4f18e46c 2026-03-01 23:32:40 -05:00 Compare
sl-jetson merged commit d6a6965af6 into main 2026-03-01 23:55:16 -05:00
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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#95
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