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>
47 lines
1.9 KiB
Python
47 lines
1.9 KiB
Python
from setuptools import setup
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import os
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from glob import glob
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package_name = 'saltybot_bringup'
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setup(
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name=package_name,
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version='0.1.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'),
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glob('launch/*.launch.py')),
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(os.path.join('share', package_name, 'config'),
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glob('config/*.yaml')),
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(os.path.join('share', package_name, 'behavior_trees'),
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glob('behavior_trees/*.xml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='sl-perception',
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maintainer_email='sl-perception@saltylab.local',
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description='SaltyBot sensor bringup and SLAM launch files',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'depth_confidence_filter = saltybot_bringup.depth_confidence_filter_node:main',
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'camera_health_monitor = saltybot_bringup.camera_health_node:main',
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'scan_height_filter = saltybot_bringup.scan_height_filter_node:main',
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# LIDAR object clustering + RViz visualisation (Issue #239)
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'lidar_clustering = saltybot_bringup.lidar_clustering_node:main',
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# Floor surface type classifier (Issue #249)
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'floor_classifier = saltybot_bringup.floor_classifier_node:main',
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# Visual odometry drift detector (Issue #260)
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'vo_drift_detector = saltybot_bringup.vo_drift_node:main',
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# Depth image hole filler (Issue #268)
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'depth_hole_fill = saltybot_bringup.depth_hole_fill_node:main',
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# HSV color object segmenter (Issue #274)
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'color_segmenter = saltybot_bringup.color_segment_node:main',
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],
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},
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)
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