sl-jetson
c3d36e9943
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Adds face_track_servo_node to saltybot_social: - Subscribes /social/faces/detected (FaceDetectionArray) - Picks closest face by largest bbox area (proximity proxy) - Computes pan/tilt error from bbox centre vs image centre using configurable FOV (fov_h_deg=60°, fov_v_deg=45°) - Independent PID controllers for pan and tilt (velocity/incremental output with anti-windup); servo position integrates velocity*dt - Clamps commands to ±pan_limit_deg / ±tilt_limit_deg - Returns to centre at return_rate_deg_s when face lost >lost_timeout_s - Dead zone suppresses jitter for small errors - Publishes Float32 on /saltybot/head_pan and /saltybot/head_tilt - 81/81 tests passing Closes #279
57 lines
2.6 KiB
Python
57 lines
2.6 KiB
Python
from setuptools import find_packages, setup
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import os
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from glob import glob
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package_name = 'saltybot_social'
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setup(
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name=package_name,
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version='0.1.0',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'),
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glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
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(os.path.join('share', package_name, 'config'),
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glob(os.path.join('config', '*.yaml'))),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='seb',
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maintainer_email='seb@vayrette.com',
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description='Social interaction layer — person tracking, speech, LLM, TTS, orchestrator',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'person_state_tracker = saltybot_social.person_state_tracker_node:main',
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'expression_node = saltybot_social.expression_node:main',
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'attention_node = saltybot_social.attention_node:main',
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'speech_pipeline_node = saltybot_social.speech_pipeline_node:main',
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'conversation_node = saltybot_social.conversation_node:main',
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'tts_node = saltybot_social.tts_node:main',
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'orchestrator_node = saltybot_social.orchestrator_node:main',
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# Voice command NLU bridge (Issue #137)
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'voice_command_node = saltybot_social.voice_command_node:main',
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# Multi-camera gesture recognition (Issue #140)
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'gesture_node = saltybot_social.gesture_node:main',
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# Hand gesture pointing direction (Issue #221)
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'pointing_node = saltybot_social.pointing_node:main',
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# Facial expression recognition (Issue #161)
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'emotion_node = saltybot_social.emotion_node:main',
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# Robot mesh communication (Issue #171)
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'mesh_comms_node = saltybot_social.mesh_comms_node:main',
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# Energy+ZCR voice activity detection (Issue #242)
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'vad_node = saltybot_social.vad_node:main',
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# Ambient sound classifier — mel-spectrogram (Issue #252)
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'ambient_sound_node = saltybot_social.ambient_sound_node:main',
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# Proximity-based greeting trigger (Issue #270)
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'greeting_trigger_node = saltybot_social.greeting_trigger_node:main',
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# Face-tracking head servo controller (Issue #279)
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'face_track_servo_node = saltybot_social.face_track_servo_node:main',
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],
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},
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)
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