sl-perception
1729e43964
PART 1 AUDIT: Zero Leap Motion / UltraLeap references found in any
saltybot_* package. Existing gesture_node.py (saltybot_social) already
uses MediaPipe — no cleanup required.
PART 2 NEW PACKAGES:
saltybot_hand_tracking_msgs (ament_cmake)
- HandLandmarks.msg — 21 landmarks (float32[63]), handedness,
gesture label + direction, wrist position
- HandLandmarksArray.msg
saltybot_hand_tracking (ament_python)
- _hand_gestures.py — pure-Python gesture classifier (no ROS2/MP deps)
Vocabulary: stop (open palm) → pause/stop,
point (index up) → direction command + 8-compass,
disarm (fist) → emergency-off,
confirm (thumbs-up) → confirm action,
follow_me (peace sign) → follow mode,
greeting (wrist oscillation) → greeting response
WaveDetector: sliding-window lateral wrist tracking
- hand_tracking_node.py — ROS2 node
sub: /camera/color/image_raw (BEST_EFFORT)
pub: /saltybot/hands (HandLandmarksArray)
/saltybot/hand_gesture (std_msgs/String)
MediaPipe model_complexity=0 (lite) for 20+ FPS
on Orin Nano Super; background MP init thread;
per-hand WaveDetector instances
- test/test_hand_gestures.py — 35 tests, 35 passing
Covers: Landmark, HandGestureResult, WaveDetector, all 6 gesture
classifiers, priority ordering, direction vectors, confidence bounds
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>