feat: implement base class for asr models, add local whisper

src/rai_asr/launch/local.launch.py

@@ -0,0 +1,73 @@
+# 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="2.0",
+                description="Grace period in seconds after silence to stop recording",
+            ),
+            DeclareLaunchArgument(
+                "sample_rate",
+                default_value="0",
+                description="Sample rate for audio capture (0 for auto-detect)",
+            ),
+            Node(
+                package="rai_asr",
+                executable="asr_node",
+                name="rai_asr",
+                output="screen",
+                emulate_tty=True,
+                parameters=[
+                    {
+                        "language": LaunchConfiguration("language"),
+                        "model": LaunchConfiguration("model"),
+                        "silence_grace_period": LaunchConfiguration(
+                            "silence_grace_period"
+                        ),
+                        "sample_rate": LaunchConfiguration("sample_rate"),
+                    }
+                ],
+            ),
+        ]
+    )

src/rai_asr/launch/transcribe.launch.py → src/rai_asr/launch/openai.launch.py

@@ -33,9 +33,14 @@ def generate_launch_description():
                 description="Language code for the ASR model",
             ),
             DeclareLaunchArgument(
-                "model",
+                "model_name",
                 default_value="whisper-1",
-                description="Model type for the ASR model",
+                description="Model name for the ASR model",
+            ),
+            DeclareLaunchArgument(
+                "model_vendor",
+                default_value="openai",
+                description="Model vendor of the ASR",
             ),
             DeclareLaunchArgument(
                 "silence_grace_period",

src/rai_asr/rai_asr/asr_clients.py

@@ -0,0 +1,59 @@
+import io
+import os
+from abc import abstractmethod
+from functools import partial
+
+import numpy as np
+import whisper
+from numpy.typing import NDArray
+from openai import OpenAI
+from scipy.io import wavfile
+from whisper.transcribe import transcribe
+
+
+class ASRModel:
+    def __init__(self, model_name: str, sample_rate: int, language: str = "en"):
+        self.model_name = model_name
+        self.sample_rate = sample_rate
+        self.language = language
+
+    @abstractmethod
+    def transcribe(self, data: NDArray[np.int16]) -> str:
+        pass
+
+    def __call__(self, data: NDArray[np.int16]) -> str:
+        return self.transcribe(data)
+
+
+class OpenAIWhisper(ASRModel):
+    def __init__(self, model_name: str, sample_rate: int, language: str = "en"):
+        super().__init__(model_name, sample_rate, language)
+        api_key = os.getenv("OPENAI_API_KEY")
+        if api_key is None:
+            raise ValueError("OPENAI_API_KEY environment variable is not set.")
+        self.api_key = api_key
+        self.openai_client = OpenAI()
+        self.model = partial(
+            self.openai_client.audio.transcriptions.create,
+            model=self.model_name,
+        )
+
+    def transcribe(self, data: NDArray[np.int16]) -> str:
+        with io.BytesIO() as temp_wav_buffer:
+            wavfile.write(temp_wav_buffer, self.sample_rate, data)
+            temp_wav_buffer.seek(0)
+            temp_wav_buffer.name = "temp.wav"
+            response = self.model(file=temp_wav_buffer, language=self.language)
+        transcription = response.text
+        return transcription
+
+
+class LocalWhisper(ASRModel):
+    def __init__(self, model_name: str, sample_rate: int, language: str = "en"):
+        super().__init__(model_name, sample_rate, language)
+        self.whisper = whisper.load_model(self.model_name)
+
+    def transcribe(self, data: NDArray[np.int16]) -> str:
+        result = transcribe(self.whisper, data.astype(np.float32) / 32768.0)
+        transcription = result["text"]
+        return transcription

src/rai_asr/rai_asr/asr_node.py

@@ -13,23 +13,19 @@
 # limitations under the License.
 #
 
-import io
 import threading
 import time
 from datetime import datetime, timedelta
-from functools import partial
 from typing import Literal
 
 import numpy as np
 import rclpy
 import sounddevice as sd
 import torch
-from openai import OpenAI
 from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
-from scipy.io import wavfile
 from std_msgs.msg import String
 
 SAMPLING_RATE = 16000
@@ -43,7 +39,7 @@ def __init__(self):
         self._setup_node_components()
         self._initialize_variables()
         self._setup_publishers_and_subscribers()
-        self._load_whisper_model()
+        self._initialize_asr_model()
 
     def _declare_parameters(self):
         self.declare_parameter(
@@ -57,6 +53,14 @@ def _declare_parameters(self):
                 ),
             ),
         )
+        self.declare_parameter(
+            "model_vendor",
+            "whisper",  # openai, whisper
+            ParameterDescriptor(
+                type=ParameterType.PARAMETER_STRING,
+                description="Vendor of the ASR model",
+            ),
+        )
         self.declare_parameter(
             "language",
             "en",
@@ -66,8 +70,8 @@ def _declare_parameters(self):
             ),
         )
         self.declare_parameter(
-            "model",
-            "whisper-1",
+            "model_name",
+            "base",
             ParameterDescriptor(
                 type=ParameterType.PARAMETER_STRING,
                 description="Model type for the ASR model",
@@ -106,8 +110,11 @@ def _initialize_variables(self):
             .get_parameter_value()
             .double_value
         )  # type: ignore
-        self.whisper_model = (
-            self.get_parameter("model").get_parameter_value().string_value
+        self.model_name = (
+            self.get_parameter("model_name").get_parameter_value().string_value
+        )  # type: ignore
+        self.model_vendor = (
+            self.get_parameter("model_vendor").get_parameter_value().string_value
         )  # type: ignore
         self.language = (
             self.get_parameter("language").get_parameter_value().string_value
@@ -135,11 +142,17 @@ def _setup_publishers_and_subscribers(self):
             callback_group=self.callback_group,
         )
 
-    def _load_whisper_model(self):
-        self.openai_client = OpenAI()
-        self.model = partial(
-            self.openai_client.audio.transcriptions.create, model=self.whisper_model
-        )
+    def _initialize_asr_model(self):
+        if self.model_vendor == "openai":
+            from rai_asr.asr_clients import OpenAIWhisper
+
+            self.model = OpenAIWhisper(self.model_name, self.sample_rate, self.language)
+        elif self.model_vendor == "whisper":
+            from rai_asr.asr_clients import LocalWhisper
+
+            self.model = LocalWhisper(self.model_name, self.sample_rate, self.language)
+        else:
+            raise ValueError(f"Unknown model vendor: {self.model_vendor}")
 
     def tts_status_callback(self, msg: String):
         if msg.data == "processing":
@@ -209,19 +222,14 @@ def transcribe_audio(self):
         self.get_logger().info("Calling ASR model")
         combined_audio = np.concatenate(self.audio_buffer)
 
-        with io.BytesIO() as temp_wav_buffer:
-            wavfile.write(temp_wav_buffer, self.sample_rate, combined_audio)
-            temp_wav_buffer.seek(0)
-            temp_wav_buffer.name = "temp.wav"
-
-            response = self.model(file=temp_wav_buffer, language=self.language)
-            transcription = response.text
-            if transcription.lower() in ["you", ""]:
-                self.get_logger().info(f"Dropping transcription: '{transcription}'")
-                self.publish_status("dropping")
-            else:
-                self.get_logger().info(f"Transcription: {transcription}")
-                self.publish_transcription(transcription)
+        transcription = self.model(data=combined_audio)
+
+        if transcription.lower() in ["you", ""]:
+            self.get_logger().info(f"Dropping transcription: '{transcription}'")
+            self.publish_status("dropping")
+        else:
+            self.get_logger().info(f"Transcription: {transcription}")
+            self.publish_transcription(transcription)
 
         self.last_transcription_time = time.time()