sl-jetson
50971c0946
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- Add Expression.msg / ExpressionArray.msg ROS2 message definitions - Add emotion_classifier.py: 7-class CNN (happy/sad/angry/surprised/fearful/disgusted/neutral) via TensorRT FP16 with landmark-geometry fallback; EMA per-person smoothing; opt-out registry - Add emotion_node.py: subscribes /social/faces/detections, runs TRT crop inference (<5ms), publishes /social/faces/expressions and /social/emotion/context JSON for LLM - Wire emotion context into conversation_node.py: emotion hint injected into LLM prompt when speaker shows non-neutral affect; subscribes /social/emotion/context - Add emotion_params.yaml config and emotion.launch.py launch file - Add 67-test suite (test_emotion_classifier.py): classifier, tracker, opt-out, heuristic Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
68 lines
2.6 KiB
Python
68 lines
2.6 KiB
Python
"""emotion.launch.py — Launch emotion_node for facial expression recognition (Issue #161)."""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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pkg = FindPackageShare("saltybot_social")
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params_file = PathJoinSubstitution([pkg, "config", "emotion_params.yaml"])
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return LaunchDescription([
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DeclareLaunchArgument(
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"params_file",
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default_value=params_file,
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description="Path to emotion_node parameter YAML",
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),
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DeclareLaunchArgument(
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"engine_path",
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default_value="/models/emotion_fp16.trt",
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description="Path to TensorRT FP16 emotion engine (empty = landmark heuristic)",
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),
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DeclareLaunchArgument(
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"min_confidence",
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default_value="0.40",
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description="Minimum detection confidence to publish an expression",
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),
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DeclareLaunchArgument(
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"smoothing_alpha",
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default_value="0.30",
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description="EMA smoothing weight (0=frozen, 1=no smoothing)",
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),
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DeclareLaunchArgument(
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"opt_out_persons",
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default_value="",
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description="Comma-separated person_ids that opted out",
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),
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DeclareLaunchArgument(
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"landmark_fallback",
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default_value="true",
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description="Use landmark heuristic when TRT engine unavailable",
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),
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DeclareLaunchArgument(
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"publish_context",
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default_value="true",
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description="Publish /social/emotion/context JSON for LLM context",
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),
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Node(
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package="saltybot_social",
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executable="emotion_node",
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name="emotion_node",
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output="screen",
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parameters=[
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LaunchConfiguration("params_file"),
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{
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"engine_path": LaunchConfiguration("engine_path"),
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"min_confidence": LaunchConfiguration("min_confidence"),
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"smoothing_alpha": LaunchConfiguration("smoothing_alpha"),
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"opt_out_persons": LaunchConfiguration("opt_out_persons"),
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"landmark_fallback": LaunchConfiguration("landmark_fallback"),
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"publish_context": LaunchConfiguration("publish_context"),
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},
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],
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),
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])
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