sl-jetson
ce6d5ee249
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Delivers Issue #140 (P2): real-time gesture detection from 4 CSI cameras via MediaPipe Hands and Pose, publishing classified gestures on /social/gestures. New files: - saltybot_social_msgs/msg/Gesture.msg + GestureArray.msg — ROS2 message types - saltybot_social/gesture_classifier.py — pure-Python geometric classifier (stop_palm, thumbs_up/down, point, come_here, follow, wave, arms_up, arms_spread, crouch); WaveDetector temporal sliding-window oscillation tracker - saltybot_social/gesture_node.py — ROS2 node; round-robin multi-camera _FrameBuffer, lazy MediaPipe init, person-ID correlation via PersonState - saltybot_social/test/test_gesture_classifier.py — 70 unit tests, all passing - saltybot_social/config/gesture_params.yaml — tuned defaults for Orin Nano - saltybot_social/launch/gesture.launch.py — all params overridable at launch Modified: - saltybot_social_msgs/CMakeLists.txt — register Gesture + GestureArray msgs - saltybot_social/setup.py — add gesture_node console_scripts entry point Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
68 lines
2.5 KiB
Python
68 lines
2.5 KiB
Python
"""gesture.launch.py — Launch gesture_node for multi-camera gesture recognition (Issue #140)."""
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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", "gesture_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 gesture_node parameter YAML",
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),
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DeclareLaunchArgument(
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"process_fps",
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default_value="10.0",
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description="Target gesture detection rate (Hz)",
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),
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DeclareLaunchArgument(
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"model_complexity",
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default_value="0",
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description="MediaPipe model complexity: 0=lite, 1=full, 2=heavy",
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),
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DeclareLaunchArgument(
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"pose_enabled",
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default_value="true",
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description="Enable MediaPipe Pose body-gesture detection",
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),
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DeclareLaunchArgument(
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"hands_enabled",
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default_value="true",
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description="Enable MediaPipe Hands hand-gesture detection",
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),
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DeclareLaunchArgument(
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"enabled_gestures",
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default_value="",
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description="Comma-separated gesture allowlist; empty = all",
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),
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DeclareLaunchArgument(
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"min_confidence",
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default_value="0.60",
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description="Minimum detection confidence threshold",
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),
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Node(
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package="saltybot_social",
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executable="gesture_node",
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name="gesture_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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"process_fps": LaunchConfiguration("process_fps"),
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"model_complexity": LaunchConfiguration("model_complexity"),
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"pose_enabled": LaunchConfiguration("pose_enabled"),
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"hands_enabled": LaunchConfiguration("hands_enabled"),
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"enabled_gestures": LaunchConfiguration("enabled_gestures"),
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"min_confidence": LaunchConfiguration("min_confidence"),
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},
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],
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),
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])
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