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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>