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feat: add bell detection interfaces for yamnet_ros #12

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feat: add bell detection interfaces for yamnet_ros #12

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2 changes: 2 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ set(msg_files
msg/Feature.msg
msg/DetectMask.msg
msg/DetectMaskArray.msg
msg/SoundDetection.msg
)
set(srv_files
srv/GetHandToTargetCoord.srv
Expand All @@ -39,6 +40,7 @@ set(action_files
action/MoveWheelRotate.action
action/VlaRecordState.action
action/DisplayControl.action
action/ListenForSound.action
)

rosidl_generate_interfaces(${PROJECT_NAME}
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14 changes: 14 additions & 0 deletions action/ListenForSound.action
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
# Goal — start listening for a bell/doorbell sound
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@Jiahao9 Jiahao9 May 26, 2026

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The PR description says the interface is reusable for YAMNet sounds beyond doorbells, but the action goal only has timeout_sec and threshold. That means a behavior client cannot request "Doorbell", "Bell", or any other target through the action contract; it must rely on server-side configuration.

I’d recommend adding something like string[] target_labels or string target_label to the goal if multi-sound reuse is intended.

Suggested change
# Goal — start listening for a bell/doorbell sound
# Goal
string[] target_labels

float64 timeout_sec # max seconds to listen; 0 = no timeout
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@Jiahao9 Jiahao9 May 26, 2026

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Maybe builtin_interfaces/Duration would be a better fit for the timeout field here.

Using a duration type makes it clear that this value represents time, and it avoids relying on the _sec suffix to communicate the unit.

Suggested change
float64 timeout_sec # max seconds to listen; 0 = no timeout
builtin_interfaces/Duration timeout # zero duration = no timeout

float32 threshold 0.15 # YAMNet score threshold to trigger; 0 = use node default
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@Jiahao9 Jiahao9 May 26, 2026

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I’m wondering if threshold should be removed from the action goal.

If the threshold is a runtime/configuration detail of yamnet_ros, it may be better as a ROS parameter on the node rather than part of the shared action interface. That keeps ListenForSound simpler and avoids clients needing to know or tune YAMNet sensitivity for the common case.

Could we remove this:

Suggested change
float32 threshold 0.15 # YAMNet score threshold to trigger; 0 = use node default

---
# Result
bool detected # true if sound was detected before timeout
string label # class name that triggered (e.g. "Doorbell")
float32 score # score of the detected class
float32 elapsed_time # seconds from goal start to result
---
# Feedback — sent every hop (~0.5 s) while listening
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@Jiahao9 Jiahao9 May 26, 2026

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Suggested change
# Feedback — sent every hop (~0.5 s) while listening
# Feedback

string current_top_label # overall top class right now
float32 current_top_score # its score
bool candidate_detected # any doorbell-like class above threshold this frame
5 changes: 5 additions & 0 deletions msg/SoundDetection.msg
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std_msgs/Header header
string label # best doorbell-like class detected (e.g. "Doorbell", "Bell")
float32 score # YAMNet score for that class [0-1]
string top_label # overall top class regardless of category (for diagnostics)
float32 top_score # overall top score (for diagnostics)