sl-jetson
4919dc0bc6
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Add vad_node to saltybot_social: subscribes to /social/speech/audio_raw (UInt8MultiArray PCM-16), computes RMS energy (dBFS) and zero-crossing rate per chunk, applies onset/offset hysteresis (VadStateMachine), and publishes /social/speech/is_speaking (Bool) and /social/speech/energy (Float32 linear RMS). All thresholds configurable via ROS params: rms_threshold_db=-35.0, zcr_min=0.01, zcr_max=0.40, onset_frames=2, offset_frames=8, audio_topic. 69/69 tests passing. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>