feat(perception): HSV color object segmenter — Issue #274
- Add ColorDetection.msg + ColorDetectionArray.msg to saltybot_scene_msgs
- Add _color_segmenter.py: HsvRange/ColorBlob types, COLOR_RANGES defaults,
mask_for_color() (dual-band red wrap), find_color_blobs() with morph open,
contour extraction, area filter and max-blob-per-color limit
- Add color_segment_node.py: subscribes /camera/color/image_raw (BEST_EFFORT),
publishes /saltybot/color_objects (ColorDetectionArray) per frame;
active_colors, min_area_px, max_blobs_per_color params
- Add saltybot_scene_msgs exec_depend to saltybot_bringup/package.xml
- Register color_segmenter console_script in setup.py
- 34/34 unit tests pass (no ROS2 required)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-perception
f5093ecd34