refactor (human-robot-interface): various enhancements (#180)

Signed-off-by: Kacper Dąbrowski <[email protected]> Signed-off-by: Wiktoria Siekierska <[email protected]> Co-authored-by: Wiktoria Siekierska <[email protected]> Co-authored-by: Kacper Dąbrowski <[email protected]> Co-authored-by: Wiktoria Siekierska <[email protected]>
RobotecAI · Sep 9, 2024 · 3d3b7fa · 3d3b7fa
1 parent 5fab9e1
commit 3d3b7fa
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diff --git a/poetry.lock b/poetry.lock
diff --git a/pyproject.toml b/pyproject.toml
@@ -48,6 +48,7 @@ langchain-ollama = "^0.1.1"
 streamlit = "^1.37.1"
 deprecated = "^1.2.14"
 tomli = "^2.0.1"
+openwakeword = { git = "https://github.com/maciejmajek/openWakeWord.git", branch = "chore/remove-tflite-backend" }
 [tool.poetry.group.dev.dependencies]
 ipykernel = "^6.29.4"
 

diff --git a/src/rai_asr/launch/local.launch.py b/src/rai_asr/launch/local.launch.py
@@ -0,0 +1,95 @@
+# Copyright (C) 2024 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                "recording_device",
+                default_value="0",
+                description="Microphone device number. See available by running python -c 'import sounddevice as sd; print(sd.query_devices())'",
+            ),
+            DeclareLaunchArgument(
+                "language",
+                default_value="en",
+                description="Language code for the ASR model",
+            ),
+            DeclareLaunchArgument(
+                "model_name",
+                default_value="base",
+                description="Model name for the ASR model",
+            ),
+            DeclareLaunchArgument(
+                "model_vendor",
+                default_value="whisper",
+                description="Model vendor of the ASR",
+            ),
+            DeclareLaunchArgument(
+                "silence_grace_period",
+                default_value="1.0",
+                description="Grace period in seconds after silence to stop recording",
+            ),
+            DeclareLaunchArgument(
+                "use_wake_word",
+                default_value="False",
+                description="Whether to use wake word detection",
+            ),
+            DeclareLaunchArgument(
+                "wake_word_model",
+                default_value="",
+                description="Wake word model to use",
+            ),
+            DeclareLaunchArgument(
+                "wake_word_threshold",
+                default_value="0.5",
+                description="Threshold for wake word detection",
+            ),
+            DeclareLaunchArgument(
+                "vad_threshold",
+                default_value="0.5",
+                description="Threshold for voice activity detection",
+            ),
+            Node(
+                package="rai_asr",
+                executable="asr_node",
+                name="rai_asr",
+                output="screen",
+                emulate_tty=True,
+                parameters=[
+                    {
+                        "recording_device": LaunchConfiguration("recording_device"),
+                        "language": LaunchConfiguration("language"),
+                        "model_name": LaunchConfiguration("model_name"),
+                        "model_vendor": LaunchConfiguration("model_vendor"),
+                        "silence_grace_period": LaunchConfiguration(
+                            "silence_grace_period"
+                        ),
+                        "use_wake_word": LaunchConfiguration("use_wake_word"),
+                        "wake_word_model": LaunchConfiguration("wake_word_model"),
+                        "wake_word_threshold": LaunchConfiguration(
+                            "wake_word_threshold"
+                        ),
+                        "vad_threshold": LaunchConfiguration("vad_threshold"),
+                    }
+                ],
+            ),
+        ]
+    )