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>
30 lines
1015 B
XML
30 lines
1015 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_hand_tracking</name>
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<version>0.1.0</version>
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<description>MediaPipe-based hand tracking and robot-command gesture recognition (Issue #342).</description>
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<maintainer email="robot@saltylab.local">SaltyLab</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_python</buildtool_depend>
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<depend>rclpy</depend>
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<depend>sensor_msgs</depend>
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<depend>std_msgs</depend>
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<depend>saltybot_hand_tracking_msgs</depend>
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<exec_depend>python3-numpy</exec_depend>
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<exec_depend>python3-opencv</exec_depend>
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<!-- mediapipe installed via pip: pip install mediapipe -->
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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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