sl-jetson
c00967f33d
feat: trick routines action server (Issue #431)
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>
2026-03-05 08:54:06 -05:00
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