sl-jetson
3cd9faeed9
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Adds ambient_sound_node to saltybot_social: - Accumulates 1 s of PCM-16 audio from /social/speech/audio_raw - Extracts mel-spectrogram feature vector (energy_db, zcr, mel_centroid, mel_flatness, low_ratio, high_ratio) using pure numpy (no torch/onnx) - Priority-cascade classifier: silence → music → speech → crowd → outdoor → alarm - Publishes label as std_msgs/String on /saltybot/ambient_sound on each buffer fill - All 11 thresholds exposed as ROS parameters (yaml + launch file) - numpy-free energy-only fallback for edge environments - 77/77 tests passing Closes #252