sl-controls
82cb2bde79
Implement ROS2 node bridging orchestrator state to face display expressions.
Maps /social/orchestrator/state and /saltybot/wake_word_detected to HTTP API.
Features:
- Subscribes to /social/orchestrator/state (JSON: IDLE, LISTENING, THINKING, SPEAKING, THROTTLED)
- Subscribes to /saltybot/wake_word_detected for immediate Alert response
- HTTP GET requests to face display server (configurable localhost:3000/face/{id})
- State to expression mapping:
* IDLE → 0 (Tracking)
* LISTENING → 1 (Alert)
* THINKING → 3 (Searching)
* SPEAKING → 4 (Social)
* Wake word → 1 (Alert, immediate override)
- Publishes /face/state with JSON: {face_id, orchestrator_state, timestamp}
- Configurable face_server_url parameter
- Fallback to urllib if requests library unavailable
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
27 lines
862 B
XML
27 lines
862 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_face_bridge</name>
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<version>0.1.0</version>
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<description>
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Face display bridge node for orchestrator state to face expression mapping.
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Maps social/orchestrator state to face display WebSocket API.
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</description>
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<maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<buildtool_depend>ament_python</buildtool_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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