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>
18 lines
541 B
Plaintext
18 lines
541 B
Plaintext
# Person.msg — single tracked person for social attention.
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#
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# bearing_rad : signed bearing in base_link frame (rad)
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# positive = person to the left (CCW), negative = right (CW)
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# distance_m : estimated distance in metres; 0 if unknown
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# confidence : detection confidence 0..1
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# is_speaking : true if mic DOA or VAD identifies this person as speaking
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# source : "camera" | "mic_doa"
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std_msgs/Header header
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int32 track_id
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float32 bearing_rad
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float32 distance_m
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float32 confidence
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bool is_speaking
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string source
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