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>
45 lines
1.8 KiB
Python
45 lines
1.8 KiB
Python
from setuptools import find_packages, setup
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import os
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from glob import glob
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package_name = 'saltybot_social'
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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=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'),
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glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
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(os.path.join('share', package_name, 'config'),
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glob(os.path.join('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 interaction layer — person tracking, speech, LLM, TTS, orchestrator',
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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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'person_state_tracker = saltybot_social.person_state_tracker_node:main',
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'expression_node = saltybot_social.expression_node:main',
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'attention_node = saltybot_social.attention_node:main',
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'speech_pipeline_node = saltybot_social.speech_pipeline_node:main',
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'conversation_node = saltybot_social.conversation_node:main',
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'tts_node = saltybot_social.tts_node:main',
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'orchestrator_node = saltybot_social.orchestrator_node:main',
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# Voice command NLU bridge (Issue #137)
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'voice_command_node = saltybot_social.voice_command_node:main',
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# Multi-camera gesture recognition (Issue #140)
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'gesture_node = saltybot_social.gesture_node:main',
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# Facial expression recognition (Issue #161)
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'emotion_node = saltybot_social.emotion_node:main',
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],
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},
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)
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