jetson/ros2_ws/src/saltybot_face_bridge/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>saltybot_face_bridge</name>
+  <version>0.1.0</version>
+  <description>
+    Face display bridge node for orchestrator state to face expression mapping.
+    Maps social/orchestrator state to face display WebSocket API.
+  </description>
+  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

jetson/ros2_ws/src/saltybot_face_bridge/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/saltybot_face_bridge
+[egg_info]
+tag_date = 0

jetson/ros2_ws/src/saltybot_face_bridge/setup.py

@@ -0,0 +1,27 @@
+from setuptools import setup
+
+package_name = "saltybot_face_bridge"
+
+setup(
+    name=package_name,
+    version="0.1.0",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
+        (f"share/{package_name}", ["package.xml"]),
+        (f"share/{package_name}/launch", ["launch/face_bridge.launch.py"]),
+        (f"share/{package_name}/config", ["config/face_bridge_params.yaml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="sl-controls",
+    maintainer_email="sl-controls@saltylab.local",
+    description="Face display bridge for orchestrator state mapping",
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "face_bridge_node = saltybot_face_bridge.face_bridge_node:main",
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_social/saltybot_social/mesh_comms_node.py

@@ -178,7 +178,7 @@ class MeshCommsNode(Node):
         msg = MeshPeer()
         msg.header.stamp          = self.get_clock().now().to_msg()
         msg.robot_id              = self._robot_id
-        msg.namespace             = self._ns
+        msg.ros_namespace         = self._ns
         msg.social_state          = state
         msg.active_person_ids     = active_ids
         msg.greeted_person_names  = greeted_names

jetson/ros2_ws/src/saltybot_social_msgs/msg/MeshPeer.msg

@@ -6,7 +6,7 @@
 std_msgs/Header header
 
 string  robot_id                # e.g. "saltybot_1"
-string  namespace               # ROS2 namespace, e.g. "/saltybot_1" (empty = default)
+string  ros_namespace           # ROS2 namespace, e.g. "/saltybot_1" (empty = default)
 
 # Current social pipeline state (mirrors orchestrator PipelineState)
 string  social_state            # "idle" | "listening" | "thinking" | "speaking" | "throttled"