sl-webui
6d6909d9d9
Natural language voice command routing with fuzzy matching for speech variations. Supported Commands: - Follow me / Come with me - Stop / Halt / Freeze - Go home / Return to dock / Charge - Patrol / Autonomous mode - Come here / Approach - Sit / Sit down - Spin / Rotate / Turn around - Dance / Groove - Take photo / Picture / Smile - What's that / Identify / Recognize - Battery status / Battery level Features: - Fuzzy matching (rapidfuzz token_set_ratio) with 75% threshold - Multiple pattern support per command for natural variations - Three routing types: velocity (/cmd_vel), actions (/saltybot/action_command), services - Command monitoring via /saltybot/voice_command - Graceful handling of unrecognized speech Architecture: - Input: /saltybot/speech/transcribed_text (lowercase text) - Fuzzy match against 11 command groups with 40+ patterns - Route to: /cmd_vel (velocity), /saltybot/action_command (actions), or services Files: - saltybot_voice_router_node.py: Main router with fuzzy matching - launch/voice_router.launch.py: Launch configuration - VOICE_ROUTER_README.md: Usage documentation Dependencies: - rapidfuzz: Fuzzy string matching for natural speech handling - rclpy, std_msgs, geometry_msgs: ROS2 core Performance: <100ms per command (fuzzy matching + routing) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
35 lines
1.1 KiB
XML
35 lines
1.1 KiB
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_sensor_fusion</name>
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<version>0.1.0</version>
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<description>
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Multi-sensor fusion for obstacle avoidance (Issue #490).
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Fuses RPLIDAR A1M8 (360° 2D) + RealSense D435i depth (front 87° 3D).
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Publishes unified /scan_fused and PointCloud2 for costmap voxel layer.
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</description>
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<maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_python</buildtool_depend>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>message_filters</depend>
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<depend>tf2_ros</depend>
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<depend>cv_bridge</depend>
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<depend>opencv-python</depend>
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<depend>numpy</depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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