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feat: Voice command router (Issue #491) #499

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seb merged 2 commits from sl-webui/issue-491-voice-router into main 2026-03-05 19:25:33 -05:00
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sl-jetson commented 2026-03-05 17:23:55 -05:00
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sl-jetson added 1 commit 2026-03-05 17:23:55 -05:00 
Natural language voice command routing with fuzzy matching for speech variations.

Supported Commands:
- Follow me / Come with me
- Stop / Halt / Freeze
- Go home / Return to dock / Charge
- Patrol / Autonomous mode
- Come here / Approach
- Sit / Sit down
- Spin / Rotate / Turn around
- Dance / Groove
- Take photo / Picture / Smile
- What's that / Identify / Recognize
- Battery status / Battery level

Features:
- Fuzzy matching (rapidfuzz token_set_ratio) with 75% threshold
- Multiple pattern support per command for natural variations
- Three routing types: velocity (/cmd_vel), actions (/saltybot/action_command), services
- Command monitoring via /saltybot/voice_command
- Graceful handling of unrecognized speech

Architecture:
- Input: /saltybot/speech/transcribed_text (lowercase text)
- Fuzzy match against 11 command groups with 40+ patterns
- Route to: /cmd_vel (velocity), /saltybot/action_command (actions), or services

Files:
- saltybot_voice_router_node.py: Main router with fuzzy matching
- launch/voice_router.launch.py: Launch configuration
- VOICE_ROUTER_README.md: Usage documentation

Dependencies:
- rapidfuzz: Fuzzy string matching for natural speech handling
- rclpy, std_msgs, geometry_msgs: ROS2 core

Performance: <100ms per command (fuzzy matching + routing)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-webui added 1 commit 2026-03-05 19:25:25 -05:00
seb merged commit 80ee9ece87 into main 2026-03-05 19:25:33 -05:00
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Reference: seb/saltylab-firmware#499
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