sl-perception
d872ea5e34
- saltybot_social_msgs: full message/service definitions (standalone compilation) - saltybot_social_nav: social navigation orchestrator - Follow modes: shadow/lead/side/orbit/loose/tight - Voice steering: mode switching + route commands via /social/speech/* - A* obstacle avoidance on Nav2/SLAM occupancy grid (8-directional, inflation) - MiDaS monocular depth for CSI cameras (TRT FP16 + ONNX fallback) - Waypoint teaching + replay with WaypointRoute persistence - High-speed EUC tracking (5.5 m/s = ~20 km/h) - Predictive position extrapolation (0.3s ahead at high speed) - Launch: social_nav.launch.py (social_nav + midas_depth + waypoint_teacher) - Config: social_nav_params.yaml - Script: build_midas_trt_engine.py (ONNX -> TRT FP16)
32 lines
1.0 KiB
Python
32 lines
1.0 KiB
Python
from setuptools import setup
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import os
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from glob import glob
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package_name = 'saltybot_social_nav'
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setup(
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name=package_name,
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version='0.1.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
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(os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='seb',
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maintainer_email='seb@vayrette.com',
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description='Social navigation for saltybot: follow modes, waypoint teaching, A* avoidance, MiDaS depth',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'social_nav = saltybot_social_nav.social_nav_node:main',
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'midas_depth = saltybot_social_nav.midas_depth_node:main',
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'waypoint_teacher = saltybot_social_nav.waypoint_teacher_node:main',
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],
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},
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)
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