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sl-perception 677e6eb75e feat(perception): MFCC nearest-centroid audio scene classifier (Issue #353 )

Classifies ambient audio into indoor/outdoor/traffic/park at 1 Hz using
a 16-d feature vector (13 MFCC + spectral centroid + rolloff + ZCR) with
a normalised nearest-centroid classifier. Centroids are computed at import
time from seeded synthetic prototypes, ensuring deterministic behaviour.

Changes
-------
- saltybot_scene_msgs/msg/AudioScene.msg  — label + confidence + features[16]
- saltybot_scene_msgs/CMakeLists.txt      — register AudioScene.msg
- _audio_scene.py  — pure-numpy feature extraction + NearestCentroidClassifier
- audio_scene_node.py  — subscribes /audio/audio, publishes /saltybot/audio_scene
- test/test_audio_scene.py  — 53 tests (all passing) with synthetic audio
- setup.py  — add audio_scene entry point

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-03 14:03:11 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108 )

2026-03-02 08:50:22 -05:00

.pio/build

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

chassis

feat(mechanical): RPLIDAR A1 parametric dust/splash cover (Issue #301 )

2026-03-02 21:36:58 -05:00

docs

docs: add Leap Motion, fix ESC step inset 12mm