sl-perception
dc6eea4016
Implements sensor fusion for environmental monitoring and adaptive outdoor behavior: - BME280 environmental sensor (temperature, humidity, pressure) - Phone weather API fallback (wind speed, conditions) - Camera-based rain detection (image gradient analysis) - WeatherState.msg with condition bitmask and recommendations - Behavior triggers: rain→seek shelter, wind→reduce speed, extreme temp→warning - Facial expressions: squint (rain), shiver (cold), relax (comfortable) - Real-time publishing: /saltybot/weather (WeatherState), /saltybot/weather_alert (String) - Adaptive thresholds: temp_min_safe, temp_max_safe, wind_threshold Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
20 lines
636 B
YAML
20 lines
636 B
YAML
# Weather awareness ROS2 parameters
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/**:
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ros__parameters:
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# Sensor topics
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bme280_topic: '/sensor/bme280'
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camera_topic: '/camera/color/image_raw'
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# Phone weather API (OpenWeatherMap-like endpoint)
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phone_api_endpoint: '' # Set to 'http://weather-service:5000/current' if available
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phone_api_interval: 300.0 # Query every 5 minutes
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# Output
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publish_hz: 2.0 # Publish weather state at 2 Hz
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# Thresholds
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temp_min_safe: 0.0 # °C (below = cold warning)
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temp_max_safe: 35.0 # °C (above = heat warning)
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wind_threshold: 7.0 # m/s (above = strong wind)
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