sl-perception
f5093ecd34
- 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>
42 lines
1.7 KiB
XML
42 lines
1.7 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_bringup</name>
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<version>0.1.0</version>
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<description>SaltyBot launch files — full autonomous stack bringup (sensors, SLAM, Nav2, UWB, perception, follower)</description>
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<maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
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<license>MIT</license>
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<exec_depend>rplidar_ros</exec_depend>
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<exec_depend>realsense2_camera</exec_depend>
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<exec_depend>realsense2_description</exec_depend>
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<exec_depend>slam_toolbox</exec_depend>
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<exec_depend>rtabmap_ros</exec_depend>
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<exec_depend>nav2_bringup</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>tf2_ros</exec_depend>
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<exec_depend>rosbridge_server</exec_depend>
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<exec_depend>image_transport</exec_depend>
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<exec_depend>image_transport_plugins</exec_depend>
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<!-- SaltyBot packages included by full_stack.launch.py -->
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<exec_depend>saltybot_bridge</exec_depend>
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<exec_depend>saltybot_cameras</exec_depend>
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<exec_depend>saltybot_description</exec_depend>
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<exec_depend>saltybot_follower</exec_depend>
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<exec_depend>saltybot_outdoor</exec_depend>
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<exec_depend>saltybot_perception</exec_depend>
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<!-- HSV color segmentation messages (Issue #274) -->
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<exec_depend>saltybot_scene_msgs</exec_depend>
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<exec_depend>saltybot_uwb</exec_depend>
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<buildtool_depend>ament_python</buildtool_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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<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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