sl-perception
d872ea5e34
- saltybot_social_msgs: full message/service definitions (standalone compilation) - saltybot_social_nav: social navigation orchestrator - Follow modes: shadow/lead/side/orbit/loose/tight - Voice steering: mode switching + route commands via /social/speech/* - A* obstacle avoidance on Nav2/SLAM occupancy grid (8-directional, inflation) - MiDaS monocular depth for CSI cameras (TRT FP16 + ONNX fallback) - Waypoint teaching + replay with WaypointRoute persistence - High-speed EUC tracking (5.5 m/s = ~20 km/h) - Predictive position extrapolation (0.3s ahead at high speed) - Launch: social_nav.launch.py (social_nav + midas_depth + waypoint_teacher) - Config: social_nav_params.yaml - Script: build_midas_trt_engine.py (ONNX -> TRT FP16)
29 lines
956 B
XML
29 lines
956 B
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_social_nav</name>
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<version>0.1.0</version>
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<description>Social navigation for saltybot: follow modes, waypoint teaching, A* avoidance, MiDaS depth</description>
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<maintainer email="seb@vayrette.com">seb</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>cv_bridge</depend>
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<depend>tf2_ros</depend>
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<depend>tf2_geometry_msgs</depend>
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<depend>saltybot_social_msgs</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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