sl-jetson
c3d36e9943
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Adds face_track_servo_node to saltybot_social: - Subscribes /social/faces/detected (FaceDetectionArray) - Picks closest face by largest bbox area (proximity proxy) - Computes pan/tilt error from bbox centre vs image centre using configurable FOV (fov_h_deg=60°, fov_v_deg=45°) - Independent PID controllers for pan and tilt (velocity/incremental output with anti-windup); servo position integrates velocity*dt - Clamps commands to ±pan_limit_deg / ±tilt_limit_deg - Returns to centre at return_rate_deg_s when face lost >lost_timeout_s - Dead zone suppresses jitter for small errors - Publishes Float32 on /saltybot/head_pan and /saltybot/head_tilt - 81/81 tests passing Closes #279