feat: trick routines (Issue #431) #440

sl-jetson · 2026-03-05T09:00:18-05:00

sl-jetson commented

2026-03-05 09:00:18 -05:00

Fun behaviors: spin, dance, nod, celebrate, shy

sl-jetson added 1 commit 2026-03-05 09:00:19 -05:00

feat: trick routines action server (Issue #431 ) c00967f33d

Implement ROS2 node for fun behavior routines:
- spin: 360° rotation with audio
- dance: sway side-to-side + bob
- nod: head yes/no patterns
- celebrate: spin + look up + smile
- shy: back away + head down + bashful

Features:
- Voice command integration (/saltybot/voice_command)
- Timed sequences: /cmd_vel + pan_tilt controls
- Obstacle safety abort on /scan near-field detection
- 10s cooldown between tricks to prevent repetition
- Trick state publishing (/saltybot/trick_state)
- Background execution thread for non-blocking operation

Package structure:
- saltybot_tricks/trick_routines_node.py (main node)
- launch/tricks.launch.py (configurable launch)
- config/tricks_params.yaml (tuning parameters)
- test/test_tricks.py (module structure tests)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

sl-jetson merged commit b950528079 into main

2026-03-05 09:00:41 -05:00

sl-jetson referenced this issue from a commit

2026-03-05 09:00:42 -05:00

Merge pull request 'feat: trick routines (Issue #431)' (#440) from sl-jetson/issue-431-tricks into main

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Reference: seb/saltylab-firmware#440