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5043578934
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feat(social): speech pipeline + LLM conversation + TTS + orchestrator (#81 #83 #85 #89)
Issue #81 — Speech pipeline:
- speech_pipeline_node.py: OpenWakeWord "hey_salty" → Silero VAD → faster-whisper
STT (Orin GPU, <500ms wake-to-transcript) → ECAPA-TDNN speaker diarization
- speech_utils.py: pcm16↔float32, EnergyVad, UtteranceSegmenter (pre-roll, max-
duration), cosine speaker identification — all pure Python, no ROS2/GPU needed
- Publishes /social/speech/transcript (SpeechTranscript) + /social/speech/vad_state
Issue #83 — Conversation engine:
- conversation_node.py: llama-cpp-python GGUF (Phi-3-mini Q4_K_M, 20 GPU layers),
streaming token output, per-person sliding-window context (4K tokens), summary
compression, SOUL.md system prompt, group mode
- llm_context.py: PersonContext, ContextStore (JSON persistence), build_llama_prompt
(ChatML format), context compression via LLM summarization
- Publishes /social/conversation/response (ConversationResponse, partial + final)
Issue #85 — Streaming TTS:
- tts_node.py: Piper ONNX streaming synthesis, sentence-by-sentence first-chunk
streaming (<200ms to first audio), sounddevice USB speaker playback, volume control
- tts_utils.py: split_sentences, pcm16_to_wav_bytes, chunk_pcm, apply_volume, strip_ssml
Issue #89 — Pipeline orchestrator:
- orchestrator_node.py: IDLE→LISTENING→THINKING→SPEAKING state machine, GPU memory
watchdog (throttle at <2GB free), rolling latency stats (p50/p95 per stage),
VAD watchdog (alert if speech pipeline hangs), /social/orchestrator/state JSON pub
- social_bot.launch.py: brings up all 4 nodes with TimerAction delays
New messages: SpeechTranscript.msg, VadState.msg, ConversationResponse.msg
Config YAMLs: speech_params, conversation_params, tts_params, orchestrator_params
Tests: 58 tests (28 speech_utils + 30 llm_context/tts_utils), all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 08:23:19 -05:00 |
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5143e5bfac
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feat(social): Issue #86 — physical expression + motor attention
ESP32-C3 NeoPixel sketch (esp32/social_expression/social_expression.ino):
- Adafruit NeoPixel + ArduinoJson, serial JSON protocol 115200 8N1
- Mood→colour: happy=green, curious=blue, annoyed=red, playful=rainbow
- Idle breathing animation (sine-modulated warm white)
- Auto-falls to idle after IDLE_TIMEOUT_MS (3 s) with no command
ROS2 saltybot_social_msgs (new package):
- Mood.msg — {mood, intensity}
- Person.msg — {track_id, bearing_rad, distance_m, confidence, is_speaking, source}
- PersonArray.msg — {persons[], active_id}
ROS2 saltybot_social (new package):
- expression_node: subscribes /social/mood → JSON serial to ESP32-C3
reconnects on port error; sends idle frame after idle_timeout_s
- attention_node: subscribes /social/persons → /cmd_vel rotation-only
proportional control with dead zone; prefers active speaker, falls
back to highest-confidence person; lost-target idle after 2 s
- launch/social.launch.py — combined launch
- config YAML for both nodes with documented parameters
- test/test_attention.py — 15 pytest-only unit tests
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-01 23:35:59 -05:00 |
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