sl-firmware
5143e5bfac
ESP32-C3 NeoPixel sketch (esp32/social_expression/social_expression.ino):
- Adafruit NeoPixel + ArduinoJson, serial JSON protocol 115200 8N1
- Mood→colour: happy=green, curious=blue, annoyed=red, playful=rainbow
- Idle breathing animation (sine-modulated warm white)
- Auto-falls to idle after IDLE_TIMEOUT_MS (3 s) with no command
ROS2 saltybot_social_msgs (new package):
- Mood.msg — {mood, intensity}
- Person.msg — {track_id, bearing_rad, distance_m, confidence, is_speaking, source}
- PersonArray.msg — {persons[], active_id}
ROS2 saltybot_social (new package):
- expression_node: subscribes /social/mood → JSON serial to ESP32-C3
reconnects on port error; sends idle frame after idle_timeout_s
- attention_node: subscribes /social/persons → /cmd_vel rotation-only
proportional control with dead zone; prefers active speaker, falls
back to highest-confidence person; lost-target idle after 2 s
- launch/social.launch.py — combined launch
- config YAML for both nodes with documented parameters
- test/test_attention.py — 15 pytest-only unit tests
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
23 lines
846 B
YAML
23 lines
846 B
YAML
# expression_params.yaml — LED mood display bridge configuration.
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#
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# serial_port : udev symlink or device path for the ESP32-C3 USB-CDC port.
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# Recommended: create a udev rule:
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# SUBSYSTEM=="tty", ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1001",
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# SYMLINK+="esp32-social"
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#
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# baud_rate : must match social_expression.ino (default 115200)
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#
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# idle_timeout_s : if no /social/mood message arrives for this many seconds,
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# the node sends {"mood":"idle","intensity":1.0} so the ESP32 breathing
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# animation is synchronised with node awareness.
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#
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# control_rate : how often to check the idle timeout (Hz).
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# Does NOT gate the mood messages — those are forwarded immediately.
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expression_node:
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ros__parameters:
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serial_port: /dev/esp32-social
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baud_rate: 115200
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idle_timeout_s: 3.0
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control_rate: 10.0
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