saltybot_audio_direction 0.1.0 Audio direction estimator for sound source localization via Jabra microphone. Implements GCC-PHAT beamforming for direction of arrival (DoA) estimation. Publishes bearing (degrees) and voice activity detection (VAD) for speaker tracking integration. Issue #430. sl-perception MIT ament_python rclpy std_msgs sensor_msgs geometry_msgs python3-numpy python3-scipy python3-sounddevice pytest ament_python