sl-jetson
b8b29125d6
Implement ROS2 node for fun behavior routines: - spin: 360° rotation with audio - dance: sway side-to-side + bob - nod: head yes/no patterns - celebrate: spin + look up + smile - shy: back away + head down + bashful Features: - Voice command integration (/saltybot/voice_command) - Timed sequences: /cmd_vel + pan_tilt controls - Obstacle safety abort on /scan near-field detection - 10s cooldown between tricks to prevent repetition - Trick state publishing (/saltybot/trick_state) - Background execution thread for non-blocking operation Package structure: - saltybot_tricks/trick_routines_node.py (main node) - launch/tricks.launch.py (configurable launch) - config/tricks_params.yaml (tuning parameters) - test/test_tricks.py (module structure tests) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
17 lines
516 B
YAML
17 lines
516 B
YAML
# Trick routines configuration (Issue #431)
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#
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# Safety parameters for trick execution and obstacle avoidance
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trick_routines_node:
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ros__parameters:
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# Obstacle detection — safety abort within this distance (meters)
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obstacle_distance_m: 0.5
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# Cooldown between trick executions (seconds)
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# Prevents rapid repetition and allows motor cool-down
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cooldown_s: 10.0
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# Enable voice command integration
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# Subscribes to /saltybot/voice_command for trick intents
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enable_voice_commands: true
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