saltylab-firmware/src at sl-jetson/issue-279-face-track-servo - saltylab-firmware - Gitea: Git with a cup of tea

seb/saltylab-firmware

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sl-jetson c3d36e9943

social-bot integration tests / Lint (flake8 + pep257) (push) Failing after 8s

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social-bot integration tests / Core integration tests (mock sensors, no GPU) (push) Has been skipped

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social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped

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social-bot integration tests / Latency profiling (GPU, Orin) (push) Has been cancelled

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social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled

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feat(social): face-tracking head servo controller — Issue #279

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

2026-03-02 17:38:02 -05:00

..

saltybot_accel_limiter

feat(controls): Smooth acceleration rate limiter (Issue #241 )

2026-03-02 12:22:58 -05:00

saltybot_adaptive_pid

feat(controls): adaptive PID balance controller with gain scheduling (Issue #136 )

2026-03-02 09:38:46 -05:00

saltybot_apriltag

feat(jetson): AprilTag landmark detector — DICT_APRILTAG_36h11 (issue #191 )

2026-03-02 11:07:35 -05:00

saltybot_apriltag_msgs

feat(jetson): AprilTag landmark detector — DICT_APRILTAG_36h11 (issue #191 )

2026-03-02 11:07:35 -05:00

saltybot_battery_speed_scaler

feat(controls): Battery-aware speed scaling (Issue #251 )

2026-03-02 12:48:16 -05:00

saltybot_bridge

feat(bridge): battery management node (Issue #125 )

2026-03-02 09:27:06 -05:00

saltybot_bringup

feat(bringup): depth image hole filler via bilateral interpolation (Issue #268 )

2026-03-02 14:19:27 -05:00

saltybot_calibration

feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106 )

2026-03-02 08:38:24 -05:00

saltybot_cameras

feat: Orin Nano Super platform update + 4x IMX219 CSI cameras

2026-02-28 22:59:13 -05:00

saltybot_cellular

feat: SIM7600X 4G cellular + GPS driver (#58 )

2026-03-01 00:42:18 -05:00

saltybot_cmd_vel_mux

feat(controls): Priority-based cmd_vel multiplexer (Issue #228 )

2026-03-02 12:01:00 -05:00

saltybot_compass

feat(controls): Tilt-compensated compass heading node (Issue #235 )

2026-03-02 12:11:37 -05:00

saltybot_description

feat: Phase 2a URDF robot description for SLAM and Nav2

2026-02-28 22:57:58 -05:00

saltybot_docking

feat(#158 ): docking station auto-return with ArUco/IR detection and visual servo

2026-03-02 10:19:22 -05:00

saltybot_docking_msgs

feat(#158 ): docking station auto-return with ArUco/IR detection and visual servo

2026-03-02 10:19:22 -05:00

saltybot_dynamic_obs_msgs

feat(jetson): add dynamic obstacle tracking package (issue #176 )

2026-03-02 10:44:32 -05:00

saltybot_dynamic_obstacles

feat(jetson): add dynamic obstacle tracking package (issue #176 )

2026-03-02 10:44:32 -05:00

saltybot_emergency

feat(#169 ): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM

2026-03-02 10:39:37 -05:00

saltybot_emergency_msgs

feat(#169 ): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM

2026-03-02 10:39:37 -05:00

feat(fleet): multi-robot SLAM — map sharing + cooperative exploration (Issue #134 )

2026-03-02 09:36:17 -05:00

saltybot_fleet_msgs

feat(fleet): multi-robot SLAM — map sharing + cooperative exploration (Issue #134 )

2026-03-02 09:36:17 -05:00

saltybot_follower

feat: UWB follow-me system (#57 ) — saltybot_uwb package + sensor fusion

2026-03-01 00:48:03 -05:00

saltybot_mapping

feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123 )

2026-03-02 09:17:54 -05:00

saltybot_mode_switch

feat(controls): Autonomous/RC mode switch with 500ms blend ramp (Issue #104 )

2026-03-02 08:38:49 -05:00

saltybot_motor_protection

feat: Add Issue #223 - Motor current protection (I^2R thermal derating)

2026-03-02 11:57:17 -05:00

saltybot_night_vision

feat(jetson): add saltybot_night_vision package (issue #168 )

2026-03-02 10:36:21 -05:00

saltybot_node_watchdog

feat: Add Issue #203 - Node watchdog monitor (20Hz heartbeat detection)

2026-03-02 11:17:19 -05:00

saltybot_odom_fusion

feat: Add Issue #216 - Odometry fusion node (complementary filter)

2026-03-02 11:50:13 -05:00

saltybot_outdoor

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59 )

2026-03-01 00:52:54 -05:00

saltybot_panoramic

feat(panoramic): 360° equirectangular stitching + RTSP stream (Issue #105 )

2026-03-02 08:41:40 -05:00

saltybot_perception

feat(perception): QR code reader on CSI surround frames (Issue #233 )

2026-03-02 12:12:57 -05:00

saltybot_person_reid

chore: remove accidentally committed __pycache__ dirs

2026-03-02 11:39:21 -05:00

saltybot_person_reid_msgs

feat(perception): add person re-ID node (Issue #201 )

2026-03-02 11:39:21 -05:00

saltybot_pid_autotune

feat: Add Issue #213 - PID auto-tuner (Astrom-Hagglund relay oscillation)

2026-03-02 11:47:05 -05:00

saltybot_routes

feat: route recording + autonomous replay (#71 )

2026-03-01 01:07:06 -05:00

saltybot_rover_driver

feat(rover): SaltyRover 4-wheel ESC motor driver (Issue #110 )

2026-03-02 09:03:28 -05:00

feat(scene): semantic scene understanding — YOLOv8n TRT + room classification + hazards (Issue #141 )

2026-03-02 09:59:53 -05:00

saltybot_scene_msgs

feat(perception): QR code reader on CSI surround frames (Issue #233 )

2026-03-02 12:12:57 -05:00

saltybot_segmentation

feat: semantic sidewalk segmentation — TensorRT FP16 (#72 )

2026-03-01 01:15:13 -05:00

saltybot_segmentation_costmap

feat: semantic sidewalk segmentation — TensorRT FP16 (#72 )

2026-03-01 01:15:13 -05:00

saltybot_social

feat(social): face-tracking head servo controller — Issue #279

2026-03-02 17:38:02 -05:00

saltybot_social_enrollment

feat(social): person enrollment system — SQLite gallery + voice trigger (Issue #87 )

2026-03-01 23:32:26 -05:00

saltybot_social_face

feat(social): add 68-point Kalman landmark smoother (Issue #227 )

2026-03-02 12:05:24 -05:00

saltybot_social_msgs

feat(social): add 68-point Kalman landmark smoother (Issue #227 )

2026-03-02 12:05:24 -05:00

saltybot_social_nav

feat(social): navigation + follow modes + MiDaS depth + waypoints (Issue #91 )

2026-03-01 23:15:00 -05:00

saltybot_social_personality

feat(social): personality system — SOUL.md persona, mood engine, relationship DB (Issue #84 )

2026-03-01 23:56:05 -05:00

saltybot_social_tests

feat(tests): social-bot integration test suite (Issue #108 )

2026-03-02 08:50:22 -05:00

saltybot_social_tracking

feat(social): multi-modal tracking fusion — UWB+camera Kalman filter (Issue #92 )

2026-03-01 23:59:10 -05:00

saltybot_speed_controller

feat: outdoor adaptive speed controller (saltybot_speed_controller)

2026-03-01 01:06:50 -05:00

saltybot_speed_limiter

feat: Add Issue #194 - Speed limiter node (50Hz safety constraints)

2026-03-02 11:14:10 -05:00

saltybot_surround

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

saltybot_tank_driver

feat(tank): SaltyTank tracked-vehicle ESC driver (Issue #122 )

2026-03-02 09:14:37 -05:00

saltybot_terrain_adaptation

feat(#142 ): terrain adaptation — surface detection, speed/PID/bias adaptation

2026-03-02 10:04:36 -05:00

saltybot_terrain_msgs

feat(#142 ): terrain adaptation — surface detection, speed/PID/bias adaptation

2026-03-02 10:04:36 -05:00

saltybot_thermal

feat(jetson): CPU/GPU thermal monitor — sysfs + /saltybot/thermal JSON (Issue #205 )

2026-03-02 11:21:18 -05:00

feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90 )

2026-03-01 23:25:08 -05:00

saltybot_uwb_msgs

feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90 )

2026-03-01 23:25:08 -05:00

saltybot_visual_odom

feat(vo): visual odometry fallback — CUDA optical flow + EKF fusion + slip failover (Issue #157 )

2026-03-02 10:15:32 -05:00

saltybot_wheel_slip_detector

feat(controls): Wheel slip detector (Issue #262 )

2026-03-02 17:29:03 -05:00