sl-controls
033979aa47
New packages: - saltybot_social_msgs: PersonalityState.msg + QueryMood.srv custom interfaces - saltybot_social_personality: full personality node Features: - SOUL.md YAML/Markdown persona file: name, humor_level (0-10), sass_level (0-10), base_mood, per-tier greeting templates, mood prefix strings - Hot-reload: SoulWatcher polls SOUL.md every reload_interval seconds, applies changes live without restarting the node - Per-person relationship memory in SQLite: score, interaction_count, first/last_seen, learned preferences (JSON), full interaction log - Mood engine (pure functions): happy | curious | annoyed | playful driven by relationship score, interaction count, recent event window (120s) - Greeting personalisation: stranger | regular | favorite tiers keyed on interaction count thresholds from SOUL.md - Publishes /social/personality/state (PersonalityState) at publish_rate Hz - /social/personality/query_mood (QueryMood) service for on-demand mood query - Full ROS2 dynamic reconfigure: soul_file, db_path, reload_interval, publish_rate - 52 unit tests, no ROS2 runtime required ROS2 interfaces: Sub: /social/person_detected (std_msgs/String JSON) Pub: /social/personality/state (saltybot_social_msgs/PersonalityState) Srv: /social/personality/query_mood (saltybot_social_msgs/QueryMood)
100 lines
3.4 KiB
Python
100 lines
3.4 KiB
Python
"""
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personality.launch.py — Launch the saltybot personality node.
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Usage
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-----
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# Defaults (bundled SOUL.md, ~/.ros/saltybot_personality.db):
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ros2 launch saltybot_social_personality personality.launch.py
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# Custom persona file:
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ros2 launch saltybot_social_personality personality.launch.py \\
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soul_file:=/home/robot/my_persona/SOUL.md
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# Custom DB + faster reload:
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ros2 launch saltybot_social_personality personality.launch.py \\
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db_path:=/data/saltybot.db reload_interval:=2.0
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# Use a params file:
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ros2 launch saltybot_social_personality personality.launch.py \\
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params_file:=/my/personality_params.yaml
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Dynamic reconfigure (no restart required)
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-----------------------------------------
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ros2 param set /personality_node soul_file /new/SOUL.md
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ros2 param set /personality_node publish_rate 5.0
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def _launch_personality(context, *args, **kwargs):
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pkg_share = get_package_share_directory("saltybot_social_personality")
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params_file = LaunchConfiguration("params_file").perform(context)
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soul_file = LaunchConfiguration("soul_file").perform(context)
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db_path = LaunchConfiguration("db_path").perform(context)
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# Default soul_file to bundled config if not specified
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if not soul_file:
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soul_file = os.path.join(pkg_share, "config", "SOUL.md")
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# Expand ~ in db_path
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if db_path:
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db_path = os.path.expanduser(db_path)
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inline_params = {
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"soul_file": soul_file,
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"db_path": db_path or os.path.expanduser("~/.ros/saltybot_personality.db"),
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"reload_interval": float(LaunchConfiguration("reload_interval").perform(context)),
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"publish_rate": float(LaunchConfiguration("publish_rate").perform(context)),
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}
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node_params = [params_file, inline_params] if params_file else [inline_params]
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return [Node(
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package = "saltybot_social_personality",
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executable = "personality_node",
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name = "personality_node",
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output = "screen",
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parameters = node_params,
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)]
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def generate_launch_description():
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pkg_share = get_package_share_directory("saltybot_social_personality")
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default_params = os.path.join(pkg_share, "config", "personality_params.yaml")
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return LaunchDescription([
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DeclareLaunchArgument(
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"params_file",
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default_value=default_params,
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description="Full path to personality_params.yaml (base config)"),
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DeclareLaunchArgument(
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"soul_file",
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default_value="",
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description="Path to SOUL.md persona file (empty = bundled default)"),
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DeclareLaunchArgument(
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"db_path",
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default_value="~/.ros/saltybot_personality.db",
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description="SQLite relationship memory database path"),
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DeclareLaunchArgument(
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"reload_interval",
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default_value="5.0",
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description="SOUL.md hot-reload polling interval (s)"),
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DeclareLaunchArgument(
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"publish_rate",
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default_value="2.0",
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description="Personality state publish rate (Hz)"),
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OpaqueFunction(function=_launch_personality),
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])
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