sl-perception
1878b09eee
Implements GCC-PHAT beamforming for sound source localization via Jabra mic. - GCC-PHAT cross-correlation for direction of arrival (DoA) estimation - Voice activity detection (VAD) using RMS energy + smoothing - Stereo/quadrophonic channel support (left/right/front/rear estimation) - ROS2 publishers: /saltybot/audio_direction (Float32 bearing), /saltybot/audio_activity (Bool VAD) - Configurable parameters: sample_rate, chunk_size, publish_hz, vad_threshold, gcc_phat_max_lag - Integration-ready for multi-person tracker speaker tracking Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
32 lines
1.0 KiB
XML
32 lines
1.0 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_audio_direction</name>
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<version>0.1.0</version>
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<description>
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Audio direction estimator for sound source localization via Jabra microphone.
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Implements GCC-PHAT beamforming for direction of arrival (DoA) estimation.
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Publishes bearing (degrees) and voice activity detection (VAD) for speaker tracking integration.
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Issue #430.
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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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<exec_depend>python3-numpy</exec_depend>
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<exec_depend>python3-scipy</exec_depend>
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<exec_depend>python3-sounddevice</exec_depend>
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<test_depend>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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