jetson/ros2_ws/src/saltybot_social/config/voice_command_params.yaml

@@ -0,0 +1,15 @@
+voice_command_node:
+  ros__parameters:
+    # Minimum NLU confidence score [0.0, 1.0] for a command to be executed.
+    # Commands below this threshold are published as intent="fallback" and
+    # routed to the LLM conversation engine.
+    min_confidence: 0.70
+
+    # Seconds to wait for a confirm.yes/no response after a dangerous command
+    # (system.shutdown, system.restart, social.forget_me).
+    # After timeout the pending command is automatically cancelled.
+    confirmation_timeout_s: 10.0
+
+    # Log every parsed intent at INFO level.  Set false to reduce log noise
+    # in production; errors and warnings are always logged.
+    announce_intent: true

jetson/ros2_ws/src/saltybot_social/launch/voice_command.launch.py

@@ -0,0 +1,44 @@
+"""voice_command.launch.py — Launch voice_command_node (Issue #137)."""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description() -> LaunchDescription:
+    pkg = FindPackageShare("saltybot_social")
+
+    params_file = PathJoinSubstitution([pkg, "config", "voice_command_params.yaml"])
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            "params_file",
+            default_value=params_file,
+            description="Path to voice_command_node parameter YAML file",
+        ),
+        DeclareLaunchArgument(
+            "min_confidence",
+            default_value="0.70",
+            description="Minimum NLU confidence for command execution",
+        ),
+        DeclareLaunchArgument(
+            "confirmation_timeout_s",
+            default_value="10.0",
+            description="Seconds to await confirmation for dangerous commands",
+        ),
+        Node(
+            package="saltybot_social",
+            executable="voice_command_node",
+            name="voice_command_node",
+            output="screen",
+            parameters=[
+                LaunchConfiguration("params_file"),
+                {
+                    "min_confidence": LaunchConfiguration("min_confidence"),
+                    "confirmation_timeout_s": LaunchConfiguration("confirmation_timeout_s"),
+                },
+            ],
+        ),
+    ])

jetson/ros2_ws/src/saltybot_social/saltybot_social/voice_command_node.py

@@ -0,0 +1,275 @@
+"""voice_command_node.py — Voice-command NLU bridge for saltybot (Issue #137).
+
+Subscribes to /social/speech/transcript, runs the lightweight regex-based NLU
+parser, and publishes /social/voice_command (VoiceCommand).
+
+Confirmation flow
+-----------------
+Dangerous commands (system.shutdown, system.restart, social.forget_me) set
+requires_confirmation=True and a unique token.  The node waits up to
+``confirmation_timeout_s`` seconds for a confirm.yes or confirm.no response.
+
+  transcript: "shut down"
+    → publishes VoiceCommand(intent="system.shutdown", requires_confirmation=True)
+    → (TTS asks "Are you sure you want to shut down?")
+  transcript: "yes"
+    → publishes VoiceCommand(intent="system.shutdown", requires_confirmation=False)
+       with the same confirmation_token  ← downstream treats this as "execute"
+
+Fallback
+--------
+If confidence < ``min_confidence`` (default 0.70) or intent == "fallback",
+the node publishes VoiceCommand(intent="fallback") so the orchestrator can
+route the utterance to the LLM conversation engine.
+
+ROS2 topics
+-----------
+Subscribe: /social/speech/transcript    (saltybot_social_msgs/SpeechTranscript)
+Publish:   /social/voice_command        (saltybot_social_msgs/VoiceCommand)
+
+Parameters
+----------
+min_confidence          float   0.70    Intent confidence threshold for execution
+confirmation_timeout_s  float   10.0   Seconds before pending confirmation expires
+announce_intent         bool    true    Log intent at INFO level (useful for debug)
+"""
+
+from __future__ import annotations
+
+import time
+import uuid
+from typing import Dict, Optional
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, QoSReliabilityPolicy
+
+from saltybot_social_msgs.msg import SpeechTranscript, VoiceCommand
+
+from .voice_command_parser import ParsedIntent, parse
+
+
+class VoiceCommandNode(Node):
+    """NLU bridge: SpeechTranscript → VoiceCommand."""
+
+    def __init__(self) -> None:
+        super().__init__("voice_command_node")
+
+        # ── Parameters ──────────────────────────────────────────────────────
+        self.declare_parameter("min_confidence", 0.70)
+        self.declare_parameter("confirmation_timeout_s", 10.0)
+        self.declare_parameter("announce_intent", True)
+
+        self._min_conf: float = self.get_parameter("min_confidence").value
+        self._confirm_timeout: float = self.get_parameter("confirmation_timeout_s").value
+        self._announce: bool = self.get_parameter("announce_intent").value
+
+        # ── Reliable QoS — voice commands must not be dropped ───────────────
+        qos = QoSProfile(depth=10)
+        qos.reliability = QoSReliabilityPolicy.RELIABLE
+
+        self._cmd_pub = self.create_publisher(VoiceCommand, "/social/voice_command", qos)
+
+        self._transcript_sub = self.create_subscription(
+            SpeechTranscript,
+            "/social/speech/transcript",
+            self._on_transcript,
+            qos,
+        )
+
+        # ── Confirmation state ───────────────────────────────────────────────
+        self._pending: Optional[Dict] = None   # dict with pending command data
+
+        # Periodic timeout check
+        self._timeout_timer = self.create_timer(1.0, self._check_confirmation_timeout)
+
+        self.get_logger().info(
+            f"voice_command_node ready "
+            f"(min_confidence={self._min_conf}, "
+            f"confirmation_timeout={self._confirm_timeout}s)"
+        )
+
+    # ── Transcript callback ───────────────────────────────────────────────────
+
+    def _on_transcript(self, msg: SpeechTranscript) -> None:
+        # Skip streaming partial results
+        if msg.is_partial:
+            return
+
+        text = msg.text.strip()
+        if not text:
+            return
+
+        parsed: ParsedIntent = parse(text)
+
+        if self._announce:
+            self.get_logger().info(
+                f"[NLU] '{text}' → {parsed.intent} "
+                f"(conf={parsed.confidence:.2f}, "
+                f"entities={parsed.entities})"
+            )
+
+        # ── Confirmation-pending branch ──────────────────────────────────────
+        if self._pending is not None:
+            self._handle_confirmation_response(parsed, msg.speaker_id)
+            return
+
+        # ── Normal dispatch ──────────────────────────────────────────────────
+        self._dispatch(parsed, msg.speaker_id)
+
+    # ── Dispatch ──────────────────────────────────────────────────────────────
+
+    def _dispatch(self, parsed: ParsedIntent, speaker_id: str) -> None:
+        """Route a freshly parsed intent to the appropriate action."""
+
+        # Below-threshold → fallback to LLM
+        if parsed.confidence < self._min_conf or parsed.intent == "fallback":
+            self._publish(
+                intent="fallback",
+                entities={},
+                confidence=parsed.confidence,
+                raw_text=parsed.raw_text,
+                speaker_id=speaker_id,
+            )
+            return
+
+        # Dangerous command → ask for confirmation
+        if parsed.requires_confirmation:
+            token = str(uuid.uuid4())
+            self._pending = {
+                "token": token,
+                "intent": parsed.intent,
+                "entities": parsed.entities,
+                "raw_text": parsed.raw_text,
+                "speaker_id": speaker_id,
+                "expires_at": time.monotonic() + self._confirm_timeout,
+            }
+            self._publish(
+                intent=parsed.intent,
+                entities=parsed.entities,
+                confidence=parsed.confidence,
+                raw_text=parsed.raw_text,
+                speaker_id=speaker_id,
+                requires_confirmation=True,
+                confirmation_token=token,
+            )
+            self.get_logger().warn(
+                f"Dangerous command '{parsed.intent}' — "
+                f"awaiting confirmation (token={token[:8]}…)"
+            )
+            return
+
+        # Safe command — execute immediately
+        self._publish(
+            intent=parsed.intent,
+            entities=parsed.entities,
+            confidence=parsed.confidence,
+            raw_text=parsed.raw_text,
+            speaker_id=speaker_id,
+        )
+
+    # ── Confirmation handling ─────────────────────────────────────────────────
+
+    def _handle_confirmation_response(
+        self, parsed: ParsedIntent, speaker_id: str
+    ) -> None:
+        """Process a transcript while a dangerous command is awaiting confirmation."""
+        assert self._pending is not None
+
+        if parsed.intent == "confirm.yes":
+            # Execute the originally pending command
+            p = self._pending
+            self._pending = None
+            self.get_logger().info(
+                f"Confirmed '{p['intent']}' (token={p['token'][:8]}…)"
+            )
+            self._publish(
+                intent=p["intent"],
+                entities=p["entities"],
+                confidence=1.0,
+                raw_text=p["raw_text"],
+                speaker_id=p["speaker_id"],
+                requires_confirmation=False,
+                confirmation_token=p["token"],
+            )
+
+        elif parsed.intent in ("confirm.no", "nav.stop"):
+            # Cancel
+            p = self._pending
+            self._pending = None
+            self.get_logger().info(
+                f"Cancelled '{p['intent']}' (token={p['token'][:8]}…)"
+            )
+            self._publish(
+                intent="confirm.no",
+                entities={"cancelled_intent": p["intent"]},
+                confidence=1.0,
+                raw_text=parsed.raw_text,
+                speaker_id=speaker_id,
+                confirmation_token=p["token"],
+            )
+
+        else:
+            # Unrecognised response while awaiting confirmation — ignore and wait
+            self.get_logger().debug(
+                f"Ignoring '{parsed.intent}' while awaiting confirmation for "
+                f"'{self._pending['intent']}'"
+            )
+
+    # ── Confirmation timeout ──────────────────────────────────────────────────
+
+    def _check_confirmation_timeout(self) -> None:
+        if self._pending is None:
+            return
+        if time.monotonic() >= self._pending["expires_at"]:
+            p = self._pending
+            self._pending = None
+            self.get_logger().warn(
+                f"Confirmation timeout for '{p['intent']}' — cancelled"
+            )
+            self._publish(
+                intent="confirm.no",
+                entities={"cancelled_intent": p["intent"], "reason": "timeout"},
+                confidence=1.0,
+                raw_text="",
+                speaker_id=p["speaker_id"],
+                confirmation_token=p["token"],
+            )
+
+    # ── Publisher helper ──────────────────────────────────────────────────────
+
+    def _publish(
+        self,
+        intent: str,
+        entities: Dict[str, str],
+        confidence: float,
+        raw_text: str,
+        speaker_id: str,
+        requires_confirmation: bool = False,
+        confirmation_token: str = "",
+    ) -> None:
+        msg = VoiceCommand()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.intent = intent
+        msg.raw_text = raw_text
+        msg.speaker_id = speaker_id
+        msg.confidence = float(confidence)
+        msg.entities = [f"{k}={v}" for k, v in entities.items()]
+        msg.requires_confirmation = requires_confirmation
+        msg.confirmation_token = confirmation_token
+        self._cmd_pub.publish(msg)
+
+
+# ── Entry point ───────────────────────────────────────────────────────────────
+
+
+def main(args=None) -> None:
+    rclpy.init(args=args)
+    node = VoiceCommandNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()

jetson/ros2_ws/src/saltybot_social/saltybot_social/voice_command_parser.py

@@ -0,0 +1,573 @@
+"""voice_command_parser.py — Lightweight NLU intent parser for saltybot (Issue #137).
+
+Pure Python, zero ROS2 / ML dependencies.  Uses compiled regex patterns with
+named capture groups for entity extraction.  No network calls, runs in < 1 ms.
+
+Intent taxonomy
+---------------
+nav.*     navigation commands
+social.*  social / enrollment commands
+system.*  robot system control
+config.*  behaviour configuration
+confirm.* confirmation flow (yes / no)
+fallback  unrecognised → forward to LLM conversation engine
+
+Usage
+-----
+>>> from saltybot_social.voice_command_parser import parse
+>>> r = parse("go to the kitchen please")
+>>> r.intent, r.entities, r.confidence
+('nav.go_to', {'location': 'kitchen'}, 0.95)
+
+>>> r = parse("shut down")
+>>> r.intent, r.requires_confirmation
+('system.shutdown', True)
+"""
+
+from __future__ import annotations
+
+import re
+from dataclasses import dataclass, field
+from typing import Dict, List, Optional, Tuple
+
+# ── Data types ────────────────────────────────────────────────────────────────
+
+
+@dataclass
+class ParsedIntent:
+    intent: str                     # e.g. "nav.go_to"
+    entities: Dict[str, str]        # e.g. {"location": "kitchen"}
+    confidence: float               # 0.0–1.0
+    raw_text: str                   # normalised input text
+    requires_confirmation: bool = False
+
+
+# ── Text normalisation ────────────────────────────────────────────────────────
+
+_STRIP_PUNCT = re.compile(r"[^\w\s'.-]")   # keep apostrophe, hyphen, dot
+_MULTI_SPACE = re.compile(r"\s+")
+
+
+def _normalize(text: str) -> str:
+    """Lowercase, strip non-word punctuation, collapse whitespace."""
+    t = text.lower()
+    t = _STRIP_PUNCT.sub(" ", t)
+    t = _MULTI_SPACE.sub(" ", t)
+    return t.strip()
+
+
+# ── Internal intent definition ────────────────────────────────────────────────
+
+
+@dataclass
+class _IntentDef:
+    name: str
+    patterns: List[str]
+    confidence: float = 0.90
+    requires_confirmation: bool = False
+    _compiled: List[re.Pattern] = field(
+        default_factory=list, repr=False, init=False
+    )
+
+    def compile(self) -> None:
+        self._compiled = [
+            re.compile(p, re.IGNORECASE) for p in self.patterns
+        ]
+
+    def match(
+        self, text: str
+    ) -> Optional[Tuple[float, Dict[str, str]]]:
+        for pat in self._compiled:
+            m = pat.search(text)
+            if m:
+                entities = {
+                    k: v.strip()
+                    for k, v in m.groupdict().items()
+                    if v is not None
+                }
+                return self.confidence, entities
+        return None
+
+
+# ── Follow-mode keyword table (used for post-processing) ─────────────────────
+
+_MODE_KEYWORDS: Dict[str, List[str]] = {
+    "shadow": ["shadow", "directly behind", "behind me"],
+    "lead":   ["lead", "go ahead", "walk ahead", "walk in front", "in front"],
+    "side":   ["side", "beside", "next to", "alongside"],
+    "orbit":  ["orbit", "circle", "spin around"],
+    "loose":  ["loose", "give me space", "more space", "back off", "relax"],
+    "tight":  ["tight", "stay close", "stay very close", "right next to me"],
+}
+
+
+def _mode_from_text(text: str) -> Optional[str]:
+    for mode, keywords in _MODE_KEYWORDS.items():
+        for kw in keywords:
+            if kw in text:
+                return mode
+    return None
+
+
+# ── Volume normalisation ──────────────────────────────────────────────────────
+
+_WORD_VOLUMES = {
+    "zero": "0", "off": "0", "mute": "0",
+    "low": "20", "quiet": "20", "soft": "20",
+    "medium": "50", "mid": "50", "half": "50", "normal": "50",
+    "high": "80", "loud": "80",
+    "full": "100", "max": "100", "maximum": "100",
+}
+
+
+def _normalize_volume(level: str) -> str:
+    """Convert word or numeric volume string to a 0-100 integer string."""
+    s = level.strip().rstrip("% ").lower().replace("percent", "").strip()
+    if s in _WORD_VOLUMES:
+        return _WORD_VOLUMES[s]
+    try:
+        return str(max(0, min(100, int(s))))
+    except ValueError:
+        return s
+
+
+# ── Intent definitions — order matters for equal-confidence tie-breaking ──────
+
+_DEFS: List[_IntentDef] = [
+
+    # ── Nav: go home  (must precede nav.go_to to avoid "go home" → location=home)
+    _IntentDef(
+        name="nav.go_home",
+        confidence=0.95,
+        patterns=[
+            r"\bgo home\b",
+            r"\bhead home\b",
+            r"\breturn (?:to )?(?:home|base|your dock|charging station|home base)\b",
+            r"\bback to (?:home|base|your dock|charging station)\b",
+            r"\bdock yourself\b",
+        ],
+    ),
+
+    # ── Nav: go to X
+    _IntentDef(
+        name="nav.go_to",
+        confidence=0.95,
+        patterns=[
+            r"^(?:please\s+)?go to (?:the\s+)?(?P<location>[\w][\w ]{1,30}?)(?:\s+(?:please|now|quickly))?$",
+            r"^navigate to (?:the\s+)?(?P<location>[\w][\w ]{1,30}?)(?:\s+(?:please|now))?$",
+            r"^take me to (?:the\s+)?(?P<location>[\w][\w ]{1,30}?)(?:\s+(?:please|now))?$",
+            r"^head to (?:the\s+)?(?P<location>[\w][\w ]{1,30}?)(?:\s+(?:please|now))?$",
+            r"^move to (?:the\s+)?(?P<location>[\w][\w ]{1,30}?)(?:\s+(?:please|now))?$",
+            r"^drive to (?:the\s+)?(?P<location>[\w][\w ]{1,30}?)(?:\s+(?:please|now))?$",
+        ],
+    ),
+
+    # ── Nav: follow me
+    _IntentDef(
+        name="nav.follow_me",
+        confidence=0.95,
+        patterns=[
+            r"\bfollow (?:me|along)\b(?!\s+route)",
+            r"\bcome with me\b",
+            r"\bstick with me\b",
+            r"\bkeep up\b(?!\s+with)",
+            r"\bwalk with me\b",
+            r"\bstay with me\b",
+        ],
+    ),
+
+    # ── Nav: stop  (anchored to prevent clashes with "stop recording")
+    _IntentDef(
+        name="nav.stop",
+        confidence=0.95,
+        patterns=[
+            r"^(?:please\s+)?(?:stop|halt|freeze)(?:\s+(?:now|please|moving|right now|right there))?$",
+            r"\bdon'?t (?:move|go|proceed|go anywhere)\b",
+            r"\bstop (?:moving|right there|in your tracks|where you are)\b",
+            r"\bhold (?:it|there|on)$",
+        ],
+    ),
+
+    # ── Nav: wait here
+    _IntentDef(
+        name="nav.wait",
+        confidence=0.90,
+        patterns=[
+            r"\bwait(?: (?:here|there|for me|right here|just a|a)(?:\s+\w+)?)?\b(?!\s+until)",
+            r"\bhold (?:your )?position\b",
+            r"\bhold your ground\b",
+            r"\bpause (?:here|there)?\b",
+            r"\bstay (?:here|there|put|right here)\b(?!\s+(?:close|beside))",
+            r"\bstay (?:right )?where you are\b",
+        ],
+    ),
+
+    # ── Nav: come here
+    _IntentDef(
+        name="nav.come_here",
+        confidence=0.95,
+        patterns=[
+            r"\bcome (?:here|over here|over to me|to me|towards me)\b",
+            r"\bget (?:over here|here|to me)\b",
+            r"\bapproach (?:me|here|this way)\b",
+            r"\bmove (?:towards|toward|over to) me\b",
+        ],
+    ),
+
+    # ── Nav: patrol
+    _IntentDef(
+        name="nav.patrol",
+        confidence=0.90,
+        patterns=[
+            r"\b(?:start\s+|begin\s+|go on\s+)?patrol(?:ling|s)?\b",
+            r"\b(?:start\s+|begin\s+)?guarding(?: the area)?\b",
+            r"\bguard the (?:area|perimeter|room|building|place)\b",
+        ],
+    ),
+
+    # ── Nav: teach route
+    _IntentDef(
+        name="nav.teach_route",
+        confidence=0.95,
+        patterns=[
+            r"teach (?:a |me a |this |new )?route(?: (?:called|named))? ?(?P<name>[\w][\w ]{0,29}?)(?:\s+(?:please|now))?$",
+            r"record (?:a |this |new )?route(?: (?:called|named))? ?(?P<name>[\w][\w ]{0,29}?)(?:\s+(?:please))?$",
+            r"learn (?:this |a |new )?route(?: (?:called|named))? ?(?P<name>[\w][\w ]{0,29}?)(?:\s+(?:please))?$",
+            r"remember this route(?: (?:as|called|named) ?(?P<name>[\w][\w ]{0,29}?))?(?:\s+(?:please))?$",
+            r"\bstart (?:recording|teaching)(?: a| the)? route\b",
+            r"\bbegin route recording\b",
+        ],
+    ),
+
+    # ── Nav: stop teaching route
+    _IntentDef(
+        name="nav.stop_teaching",
+        confidence=0.95,
+        patterns=[
+            r"\bstop (?:recording|teaching)(?: the| this)? route\b",
+            r"\bfinish (?:recording|teaching)(?: the| this)? route\b",
+            r"\bdone (?:recording|teaching)(?: the| this)? route\b",
+            r"\bend route (?:recording|teaching)\b",
+        ],
+    ),
+
+    # ── Nav: replay route  (must check before nav.follow_me to avoid "follow route X")
+    _IntentDef(
+        name="nav.replay_route",
+        confidence=0.95,
+        patterns=[
+            r"replay(?: route)? (?P<name>[\w][\w ]{0,29}?)(?:\s+(?:please|now))?$",
+            r"play back (?:route )?(?P<name>[\w][\w ]{0,29}?)(?:\s+(?:please))?$",
+            r"follow route (?P<name>[\w][\w ]{0,29}?)(?:\s+(?:please))?$",
+            r"go on route (?P<name>[\w][\w ]{0,29}?)(?:\s+(?:please))?$",
+            r"take (?:the )?(?P<name>[\w][\w ]{0,29}?) route(?:\s+(?:please))?$",
+            r"run route (?P<name>[\w][\w ]{0,29}?)(?:\s+(?:please))?$",
+        ],
+    ),
+
+    # ── Nav: set follow mode  (explicit mode-change phrasing)
+    _IntentDef(
+        name="nav.set_mode",
+        confidence=0.90,
+        patterns=[
+            r"(?:change|switch|set)(?: follow)? mode to (?P<mode>shadow|lead|side|orbit|loose|tight)\b",
+            r"(?:use|enable) (?P<mode>shadow|lead|side|orbit|loose|tight)(?: follow)? mode\b",
+            r"\b(?P<mode>shadow)(?: mode| me| follow)?\s*$",
+            r"\borbit(?: mode| me| around me)?\s*$",
+            r"\bwalk (?:in front|ahead)(?: of me)?\s*$",
+            r"\bstay beside(?: me)?\s*$",
+            r"\bwalk beside(?: me)?\s*$",
+            r"\bgive me (?:more )?space\s*$",
+            r"\bback off(?: a (?:bit|little))?\s*$",
+            r"\bstay (?:very )?close(?: to me)?\s*$",
+            r"\b(?P<mode>loose)(?: mode| follow)?\s*$",
+            r"\b(?P<mode>tight)(?: mode| follow)?\s*$",
+        ],
+    ),
+
+    # ── Social: remember me / register name
+    _IntentDef(
+        name="social.remember_me",
+        confidence=0.95,
+        patterns=[
+            r"^(?:please\s+)?remember me\b(?: as (?P<name>[\w][\w ]{1,29}?))?(?:\s+please)?$",
+            r"\bmy name is (?P<name>[\w][\w ]{1,29}?)(?:\s+please)?$",
+            r"\bcall me (?P<name>[\w][\w ]{1,29}?)(?:\s+please)?$",
+            r"\bremember (?:my name|who i am)\b",
+            r"\blearn my name\b",
+            r"\bregister me\b",
+        ],
+    ),
+
+    # ── Social: forget me  [requires confirmation]
+    _IntentDef(
+        name="social.forget_me",
+        confidence=0.95,
+        requires_confirmation=True,
+        patterns=[
+            r"\bforget me\b",
+            r"\bdelete me\b",
+            r"\bremove me\b",
+            r"\bforget who i am\b",
+            r"\berase (?:me|my (?:face|name|data|profile))\b",
+            r"\bdelete my (?:face|name|data|profile)\b",
+            r"\bunregister me\b",
+        ],
+    ),
+
+    # ── Social: what's my name?
+    _IntentDef(
+        name="social.whats_my_name",
+        confidence=0.95,
+        patterns=[
+            r"\bwhat'?s my name\b",
+            r"\bdo you (?:know|remember) (?:me|who i am)\b",
+            r"\bwho am i\b",
+            r"\bdo you (?:know|recognize|recognise) me\b",
+            r"\bhave (?:you )?(?:met|seen) me before\b",
+            r"\bdo you know my name\b",
+        ],
+    ),
+
+    # ── Social: tell me a joke
+    _IntentDef(
+        name="social.tell_joke",
+        confidence=0.90,
+        patterns=[
+            r"\btell(?: me)?(?: a)? joke\b",
+            r"\bsay something funny\b",
+            r"\bmake me (?:laugh|smile)\b",
+            r"\ba joke(?: please)?\b",
+            r"\bsomething funny\b",
+            r"\bfunny (?:story|one)\b",
+            r"\bcheer me up\b",
+        ],
+    ),
+
+    # ── System: battery status
+    _IntentDef(
+        name="system.battery_status",
+        confidence=0.95,
+        patterns=[
+            r"\bbattery (?:status|level|life|charge|percentage|reading)\b",
+            r"\bhow(?:'?s| much| is)(?: (?:your|the))? battery\b",
+            r"\bpower (?:status|level|reading)\b",
+            r"\bhow charged are you\b",
+            r"\bare you (?:low on|running out of) (?:power|battery|charge)\b",
+            r"\bcheck (?:the )?battery\b",
+        ],
+    ),
+
+    # ── System: map status
+    _IntentDef(
+        name="system.map_status",
+        confidence=0.90,
+        patterns=[
+            r"\bmap (?:status|ready|available|loaded|complete|done)\b",
+            r"\bhow(?:'?s| is)(?: (?:the|your))? map(?:ping)?\b",
+            r"\b(?:are you|is the) map(?:ped|ping)?\b",
+            r"\bdo you have a map\b",
+            r"\bmap (?:updated|up to date)\b",
+        ],
+    ),
+
+    # ── System: shutdown  [requires confirmation]
+    _IntentDef(
+        name="system.shutdown",
+        confidence=0.95,
+        requires_confirmation=True,
+        patterns=[
+            r"\bshut ?down\b",
+            r"\bpower (?:off|down)\b",
+            r"\bturn yourself off\b",
+            r"\bturn off\b",
+            r"\bshut yourself off\b",
+        ],
+    ),
+
+    # ── System: restart  [requires confirmation]
+    _IntentDef(
+        name="system.restart",
+        confidence=0.95,
+        requires_confirmation=True,
+        patterns=[
+            r"\brestart\b(?!\s+(?:music|audio|video|stream|app|the))",
+            r"\breboot\b",
+            r"\bstart fresh\b",
+            r"\bstart over\b",
+            r"\breset yourself\b",
+        ],
+    ),
+
+    # ── System: volume up
+    _IntentDef(
+        name="system.volume_up",
+        confidence=0.90,
+        patterns=[
+            r"\bvolume up\b",
+            r"\blouder\b",
+            r"\bturn (?:it |the volume |yourself )?up\b",
+            r"\bspeak up\b",
+            r"\bincrease (?:the )?volume\b",
+            r"\braise (?:your |the )?voice\b",
+        ],
+    ),
+
+    # ── System: volume down
+    _IntentDef(
+        name="system.volume_down",
+        confidence=0.90,
+        patterns=[
+            r"\bvolume down\b",
+            r"\bquieter\b",
+            r"\bturn (?:it |the volume |yourself )?down\b",
+            r"\bsofter\b",
+            r"\bdecrease (?:the )?volume\b",
+            r"\bkeep (?:it |your voice )?down\b",
+            r"\bmute\b",
+        ],
+    ),
+
+    # ── System: volume set (exact level)
+    _IntentDef(
+        name="system.volume_set",
+        confidence=0.95,
+        patterns=[
+            r"set (?:the )?volume to (?P<level>\d{1,3}(?:\s*percent)?|low|medium|high|max)\b",
+            r"volume (?:to |at )?(?P<level>\d{1,3})(?:\s*percent)?\b",
+            r"(?:turn|set) (?:the )?volume (?:to |at )?(?P<level>\d{1,3}(?:\s*percent)?|low|medium|high|max)\b",
+        ],
+    ),
+
+    # ── Config: change personality
+    _IntentDef(
+        name="config.personality",
+        confidence=0.90,
+        patterns=[
+            r"(?:change|switch)(?: to)? (?P<personality>[\w][\w ]{1,20}?) personality\b",
+            r"(?:use|load) (?P<personality>[\w][\w ]{1,20}?) personality\b",
+            r"personality (?:mode )?(?:set (?:to )?)?(?P<personality>[\w][\w ]{1,20}?)(?:\s+please)?$",
+            r"be (?:more )?(?P<personality>friendly|formal|casual|playful|serious|stern)\b",
+        ],
+    ),
+
+    # ── Config: sass level
+    _IntentDef(
+        name="config.sass_level",
+        confidence=0.90,
+        patterns=[
+            r"\bmore sas(?:sy|s)\b",
+            r"\bless sass(?:y|iness)?\b",
+            r"(?:change|set) sass (?:level )?to (?P<level>\d{1,2}|low|medium|high)\b",
+            r"\bsass (?:level )?(?P<level>\d{1,2}|low|medium|high)\b",
+            r"\btone (?:it |yourself )?down\b",
+            r"\bless (?:sarcastic|snarky|rude|cheeky)\b",
+            r"\bmore (?:sarcastic|snarky|witty|cheeky)\b",
+        ],
+    ),
+
+    # ── Config: follow mode (explicit config phrasing, lower confidence than nav.set_mode)
+    _IntentDef(
+        name="config.follow_mode",
+        confidence=0.85,
+        patterns=[
+            r"(?:update|change|set) follow mode (?:to )?(?P<mode>\w+)\b",
+            r"follow mode (?:is |should be )?(?P<mode>\w+)\b",
+        ],
+    ),
+
+    # ── Confirmation: yes
+    _IntentDef(
+        name="confirm.yes",
+        confidence=0.95,
+        patterns=[
+            r"^(?:yes|yeah|yep|yup|sure|ok|okay|correct|affirmative|"
+            r"confirm(?:ed)?|do it|go ahead|proceed|definitely|"
+            r"absolutely|right|that'?s right|please do)(?:\s*[!.]*)?$",
+        ],
+    ),
+
+    # ── Confirmation: no
+    _IntentDef(
+        name="confirm.no",
+        confidence=0.95,
+        patterns=[
+            r"^(?:no|nope|nah|cancel|abort|never mind|nevermind|"
+            r"negative|don'?t|forget it|never|no way)(?:\s*[!.]*)?$",
+        ],
+    ),
+]
+
+# Compile all patterns at module load time (once)
+for _defn in _DEFS:
+    _defn.compile()
+
+
+# ── Public API ────────────────────────────────────────────────────────────────
+
+
+def parse(text: str) -> ParsedIntent:
+    """Parse raw utterance text and return the best-matching ParsedIntent.
+
+    Returns a ParsedIntent with intent='fallback' and confidence=0.0 when no
+    pattern matches.  The caller should compare confidence against a threshold
+    (default 0.7) before acting on the result.
+
+    Args:
+        text: Raw transcribed utterance (any case, with punctuation).
+
+    Returns:
+        ParsedIntent with intent, entities, confidence, raw_text, and
+        requires_confirmation populated.
+    """
+    normalized = _normalize(text)
+    if not normalized:
+        return ParsedIntent(
+            intent="fallback", entities={}, confidence=0.0, raw_text=text
+        )
+
+    best_conf = 0.0
+    best_defn: Optional[_IntentDef] = None
+    best_entities: Dict[str, str] = {}
+
+    for defn in _DEFS:
+        result = defn.match(normalized)
+        if result is None:
+            continue
+        conf, entities = result
+        if conf > best_conf:
+            best_conf = conf
+            best_defn = defn
+            best_entities = entities
+
+    if best_defn is None:
+        return ParsedIntent(
+            intent="fallback", entities={}, confidence=0.0, raw_text=normalized
+        )
+
+    # ── Post-processing ───────────────────────────────────────────────────────
+
+    # nav.set_mode: infer mode from keywords when named group didn't capture
+    if best_defn.name == "nav.set_mode" and "mode" not in best_entities:
+        inferred = _mode_from_text(normalized)
+        if inferred:
+            best_entities["mode"] = inferred
+
+    # system.volume_set: normalise level to integer string
+    if best_defn.name == "system.volume_set" and "level" in best_entities:
+        best_entities["level"] = _normalize_volume(best_entities["level"])
+
+    # nav.teach_route / nav.replay_route: strip trailing noise from name
+    if best_defn.name in ("nav.teach_route", "nav.replay_route", "nav.stop_teaching"):
+        if "name" in best_entities:
+            best_entities["name"] = best_entities["name"].strip()
+            if not best_entities["name"]:
+                del best_entities["name"]
+
+    return ParsedIntent(
+        intent=best_defn.name,
+        entities=best_entities,
+        confidence=best_conf,
+        raw_text=normalized,
+        requires_confirmation=best_defn.requires_confirmation,
+    )

jetson/ros2_ws/src/saltybot_social/setup.py

@@ -33,6 +33,8 @@ setup(
             'conversation_node = saltybot_social.conversation_node:main',
             'tts_node = saltybot_social.tts_node:main',
             'orchestrator_node = saltybot_social.orchestrator_node:main',
+            # Voice command NLU bridge (Issue #137)
+            'voice_command_node = saltybot_social.voice_command_node:main',
         ],
     },
 )

jetson/ros2_ws/src/saltybot_social/test/test_voice_command_parser.py

@@ -0,0 +1,786 @@
+"""test_voice_command_parser.py — Unit tests for voice_command_parser (Issue #137).
+
+Tests cover:
+  - All 30+ named intents with multiple phrasings
+  - Entity extraction: location, name, mode, level, route name
+  - Case insensitivity and punctuation stripping
+  - requires_confirmation flag on dangerous commands
+  - Fallback for unrecognised text
+  - Edge cases: empty string, numbers-only, partial phrases
+
+No ROS2 runtime required.
+"""
+
+import pytest
+from saltybot_social.voice_command_parser import (
+    ParsedIntent,
+    _normalize,
+    _normalize_volume,
+    _mode_from_text,
+    parse,
+)
+
+
+# ── Normalisation helpers ─────────────────────────────────────────────────────
+
+
+class TestNormalize:
+    def test_lowercase(self):
+        assert _normalize("GO TO THE KITCHEN") == "go to the kitchen"
+
+    def test_strip_punctuation(self):
+        assert _normalize("stop!") == "stop"
+
+    def test_collapse_whitespace(self):
+        assert _normalize("  go   home  ") == "go home"
+
+    def test_keep_apostrophe(self):
+        assert _normalize("what's my name") == "what's my name"
+
+    def test_keep_hyphen(self):
+        assert _normalize("well-known") == "well-known"
+
+    def test_empty_string(self):
+        assert _normalize("") == ""
+
+    def test_comma_stripped(self):
+        assert _normalize("go, go, go") == "go go go"
+
+
+class TestNormalizeVolume:
+    def test_numeric(self):
+        assert _normalize_volume("50") == "50"
+
+    def test_percent(self):
+        assert _normalize_volume("75 percent") == "75"
+
+    def test_word_low(self):
+        assert _normalize_volume("low") == "20"
+
+    def test_word_medium(self):
+        assert _normalize_volume("medium") == "50"
+
+    def test_word_high(self):
+        assert _normalize_volume("high") == "80"
+
+    def test_word_max(self):
+        assert _normalize_volume("max") == "100"
+
+    def test_clamp_above_100(self):
+        assert _normalize_volume("150") == "100"
+
+    def test_clamp_below_0(self):
+        assert _normalize_volume("-10") == "0"
+
+
+# ── Nav intents ───────────────────────────────────────────────────────────────
+
+
+class TestNavGoTo:
+    def test_basic(self):
+        r = parse("go to the kitchen")
+        assert r.intent == "nav.go_to"
+        assert r.entities.get("location") == "kitchen"
+
+    def test_navigate_to(self):
+        r = parse("navigate to the living room")
+        assert r.intent == "nav.go_to"
+        assert r.entities.get("location") == "living room"
+
+    def test_take_me_to(self):
+        r = parse("take me to the front door")
+        assert r.intent == "nav.go_to"
+        assert r.entities.get("location") == "front door"
+
+    def test_head_to(self):
+        r = parse("head to the bedroom")
+        assert r.intent == "nav.go_to"
+        assert r.entities.get("location") == "bedroom"
+
+    def test_move_to(self):
+        r = parse("Move to the garage")
+        assert r.intent == "nav.go_to"
+        assert r.entities.get("location") == "garage"
+
+    def test_with_please(self):
+        r = parse("go to the office please")
+        assert r.intent == "nav.go_to"
+
+    def test_go_home_does_not_match(self):
+        # "go home" should be nav.go_home, not nav.go_to with location=home
+        r = parse("go home")
+        assert r.intent == "nav.go_home"
+        assert "location" not in r.entities
+
+    def test_confidence(self):
+        assert parse("go to the lab").confidence == 0.95
+
+
+class TestNavGoHome:
+    def test_go_home(self):
+        assert parse("go home").intent == "nav.go_home"
+
+    def test_return_home(self):
+        assert parse("return home").intent == "nav.go_home"
+
+    def test_head_home(self):
+        assert parse("head home").intent == "nav.go_home"
+
+    def test_return_to_base(self):
+        assert parse("return to base").intent == "nav.go_home"
+
+    def test_back_to_base(self):
+        assert parse("back to base").intent == "nav.go_home"
+
+    def test_dock_yourself(self):
+        assert parse("dock yourself").intent == "nav.go_home"
+
+    def test_return_to_charging_station(self):
+        assert parse("return to charging station").intent == "nav.go_home"
+
+
+class TestNavFollowMe:
+    def test_follow_me(self):
+        assert parse("follow me").intent == "nav.follow_me"
+
+    def test_come_with_me(self):
+        assert parse("come with me").intent == "nav.follow_me"
+
+    def test_stick_with_me(self):
+        assert parse("stick with me").intent == "nav.follow_me"
+
+    def test_walk_with_me(self):
+        assert parse("walk with me").intent == "nav.follow_me"
+
+    def test_follow_route_does_not_match(self):
+        # "follow route X" should be nav.replay_route, not nav.follow_me
+        r = parse("follow route alpha")
+        assert r.intent == "nav.replay_route"
+
+
+class TestNavStop:
+    def test_stop(self):
+        assert parse("stop").intent == "nav.stop"
+
+    def test_halt(self):
+        assert parse("halt").intent == "nav.stop"
+
+    def test_freeze(self):
+        assert parse("freeze").intent == "nav.stop"
+
+    def test_stop_moving(self):
+        assert parse("stop moving").intent == "nav.stop"
+
+    def test_dont_move(self):
+        assert parse("don't move").intent == "nav.stop"
+
+    def test_hold_it(self):
+        assert parse("hold it").intent == "nav.stop"
+
+    def test_stop_right_there(self):
+        assert parse("stop right there").intent == "nav.stop"
+
+
+class TestNavWait:
+    def test_wait(self):
+        assert parse("wait").intent == "nav.wait"
+
+    def test_wait_here(self):
+        assert parse("wait here").intent == "nav.wait"
+
+    def test_stay_here(self):
+        assert parse("stay here").intent == "nav.wait"
+
+    def test_stay_put(self):
+        assert parse("stay put").intent == "nav.wait"
+
+    def test_hold_position(self):
+        assert parse("hold position").intent == "nav.wait"
+
+    def test_hold_your_position(self):
+        assert parse("hold your position").intent == "nav.wait"
+
+    def test_pause_here(self):
+        assert parse("pause here").intent == "nav.wait"
+
+
+class TestNavComeHere:
+    def test_come_here(self):
+        assert parse("come here").intent == "nav.come_here"
+
+    def test_get_over_here(self):
+        assert parse("get over here").intent == "nav.come_here"
+
+    def test_come_to_me(self):
+        assert parse("come to me").intent == "nav.come_here"
+
+    def test_approach_me(self):
+        assert parse("approach me").intent == "nav.come_here"
+
+    def test_move_towards_me(self):
+        assert parse("move towards me").intent == "nav.come_here"
+
+
+class TestNavPatrol:
+    def test_patrol(self):
+        assert parse("patrol").intent == "nav.patrol"
+
+    def test_start_patrol(self):
+        assert parse("start patrol").intent == "nav.patrol"
+
+    def test_begin_patrol(self):
+        assert parse("begin patrol").intent == "nav.patrol"
+
+    def test_go_on_patrol(self):
+        assert parse("go on patrol").intent == "nav.patrol"
+
+    def test_start_patrolling(self):
+        assert parse("start patrolling").intent == "nav.patrol"
+
+    def test_guard_the_area(self):
+        assert parse("guard the area").intent == "nav.patrol"
+
+
+class TestNavSetMode:
+    def test_shadow_me(self):
+        r = parse("shadow me")
+        assert r.intent == "nav.set_mode"
+        assert r.entities.get("mode") == "shadow"
+
+    def test_shadow_mode(self):
+        r = parse("shadow mode")
+        assert r.intent == "nav.set_mode"
+        assert r.entities.get("mode") == "shadow"
+
+    def test_walk_ahead(self):
+        r = parse("walk ahead of me")
+        assert r.intent == "nav.set_mode"
+        assert r.entities.get("mode") == "lead"
+
+    def test_stay_beside_me(self):
+        r = parse("stay beside me")
+        assert r.intent == "nav.set_mode"
+        assert r.entities.get("mode") == "side"
+
+    def test_orbit(self):
+        r = parse("orbit")
+        assert r.intent == "nav.set_mode"
+        assert r.entities.get("mode") == "orbit"
+
+    def test_give_me_space(self):
+        r = parse("give me space")
+        assert r.intent == "nav.set_mode"
+        assert r.entities.get("mode") == "loose"
+
+    def test_stay_close(self):
+        r = parse("stay close")
+        assert r.intent == "nav.set_mode"
+        assert r.entities.get("mode") == "tight"
+
+    def test_change_mode_to(self):
+        r = parse("change mode to lead")
+        assert r.intent == "nav.set_mode"
+        assert r.entities.get("mode") == "lead"
+
+    def test_switch_to_orbit_mode(self):
+        r = parse("switch to orbit mode")
+        assert r.intent == "nav.set_mode"
+        assert r.entities.get("mode") == "orbit"
+
+
+class TestNavTeachRoute:
+    def test_teach_route_name(self):
+        r = parse("teach route alpha")
+        assert r.intent == "nav.teach_route"
+        assert r.entities.get("name") == "alpha"
+
+    def test_record_route(self):
+        r = parse("record route morning walk")
+        assert r.intent == "nav.teach_route"
+        assert r.entities.get("name") == "morning walk"
+
+    def test_remember_this_route(self):
+        r = parse("remember this route as perimeter")
+        assert r.intent == "nav.teach_route"
+        assert r.entities.get("name") == "perimeter"
+
+    def test_start_recording_route(self):
+        r = parse("start recording a route")
+        assert r.intent == "nav.teach_route"
+
+    def test_learn_route(self):
+        r = parse("learn route delta")
+        assert r.intent == "nav.teach_route"
+        assert r.entities.get("name") == "delta"
+
+
+class TestNavStopTeaching:
+    def test_stop_recording_route(self):
+        assert parse("stop recording the route").intent == "nav.stop_teaching"
+
+    def test_stop_teaching_route(self):
+        assert parse("stop teaching the route").intent == "nav.stop_teaching"
+
+    def test_finish_recording(self):
+        assert parse("finish recording the route").intent == "nav.stop_teaching"
+
+    def test_done_recording(self):
+        assert parse("done recording the route").intent == "nav.stop_teaching"
+
+
+class TestNavReplayRoute:
+    def test_replay_route_name(self):
+        r = parse("replay route alpha")
+        assert r.intent == "nav.replay_route"
+        assert r.entities.get("name") == "alpha"
+
+    def test_follow_route_name(self):
+        r = parse("follow route beta")
+        assert r.intent == "nav.replay_route"
+        assert r.entities.get("name") == "beta"
+
+    def test_take_route(self):
+        r = parse("take the morning walk route")
+        assert r.intent == "nav.replay_route"
+
+    def test_play_back_route(self):
+        r = parse("play back route delta")
+        assert r.intent == "nav.replay_route"
+        assert r.entities.get("name") == "delta"
+
+    def test_go_on_route(self):
+        r = parse("go on route perimeter")
+        assert r.intent == "nav.replay_route"
+        assert r.entities.get("name") == "perimeter"
+
+
+# ── Social intents ────────────────────────────────────────────────────────────
+
+
+class TestSocialRememberMe:
+    def test_remember_me(self):
+        assert parse("remember me").intent == "social.remember_me"
+
+    def test_remember_me_as(self):
+        r = parse("remember me as Alice")
+        assert r.intent == "social.remember_me"
+        assert r.entities.get("name") == "alice"
+
+    def test_my_name_is(self):
+        r = parse("my name is Bob")
+        assert r.intent == "social.remember_me"
+        assert r.entities.get("name") == "bob"
+
+    def test_call_me(self):
+        r = parse("call me Charlie")
+        assert r.intent == "social.remember_me"
+        assert r.entities.get("name") == "charlie"
+
+    def test_remember_my_name(self):
+        assert parse("remember my name").intent == "social.remember_me"
+
+    def test_learn_my_name(self):
+        assert parse("learn my name").intent == "social.remember_me"
+
+    def test_register_me(self):
+        assert parse("register me").intent == "social.remember_me"
+
+
+class TestSocialForgetMe:
+    def test_forget_me(self):
+        r = parse("forget me")
+        assert r.intent == "social.forget_me"
+
+    def test_delete_me(self):
+        assert parse("delete me").intent == "social.forget_me"
+
+    def test_remove_me(self):
+        assert parse("remove me").intent == "social.forget_me"
+
+    def test_erase_my_face(self):
+        assert parse("erase my face").intent == "social.forget_me"
+
+    def test_requires_confirmation(self):
+        assert parse("forget me").requires_confirmation is True
+
+    def test_delete_my_profile(self):
+        assert parse("delete my profile").intent == "social.forget_me"
+
+
+class TestSocialWhatsMyName:
+    def test_whats_my_name(self):
+        assert parse("what's my name").intent == "social.whats_my_name"
+
+    def test_do_you_know_me(self):
+        assert parse("do you know me").intent == "social.whats_my_name"
+
+    def test_who_am_i(self):
+        assert parse("who am I").intent == "social.whats_my_name"
+
+    def test_do_you_remember_me(self):
+        assert parse("do you remember me").intent == "social.whats_my_name"
+
+    def test_have_you_seen_me_before(self):
+        assert parse("have you seen me before").intent == "social.whats_my_name"
+
+
+class TestSocialTellJoke:
+    def test_tell_me_a_joke(self):
+        assert parse("tell me a joke").intent == "social.tell_joke"
+
+    def test_say_something_funny(self):
+        assert parse("say something funny").intent == "social.tell_joke"
+
+    def test_make_me_laugh(self):
+        assert parse("make me laugh").intent == "social.tell_joke"
+
+    def test_a_joke_please(self):
+        assert parse("a joke please").intent == "social.tell_joke"
+
+    def test_cheer_me_up(self):
+        assert parse("cheer me up").intent == "social.tell_joke"
+
+
+# ── System intents ────────────────────────────────────────────────────────────
+
+
+class TestSystemBatteryStatus:
+    def test_battery_status(self):
+        assert parse("battery status").intent == "system.battery_status"
+
+    def test_battery_level(self):
+        assert parse("battery level").intent == "system.battery_status"
+
+    def test_hows_the_battery(self):
+        assert parse("how's the battery").intent == "system.battery_status"
+
+    def test_how_much_battery(self):
+        assert parse("how much battery").intent == "system.battery_status"
+
+    def test_power_status(self):
+        assert parse("power status").intent == "system.battery_status"
+
+    def test_check_battery(self):
+        assert parse("check the battery").intent == "system.battery_status"
+
+
+class TestSystemMapStatus:
+    def test_map_status(self):
+        assert parse("map status").intent == "system.map_status"
+
+    def test_hows_the_map(self):
+        assert parse("how's the map").intent == "system.map_status"
+
+    def test_are_you_mapped(self):
+        assert parse("are you mapped").intent == "system.map_status"
+
+    def test_do_you_have_a_map(self):
+        assert parse("do you have a map").intent == "system.map_status"
+
+
+class TestSystemShutdown:
+    def test_shutdown(self):
+        r = parse("shut down")
+        assert r.intent == "system.shutdown"
+
+    def test_shutdown_oneword(self):
+        r = parse("shutdown")
+        assert r.intent == "system.shutdown"
+
+    def test_power_off(self):
+        assert parse("power off").intent == "system.shutdown"
+
+    def test_turn_off(self):
+        assert parse("turn off").intent == "system.shutdown"
+
+    def test_requires_confirmation(self):
+        assert parse("shut down").requires_confirmation is True
+
+    def test_confidence(self):
+        assert parse("power off").confidence == 0.95
+
+
+class TestSystemRestart:
+    def test_restart(self):
+        assert parse("restart").intent == "system.restart"
+
+    def test_reboot(self):
+        assert parse("reboot").intent == "system.restart"
+
+    def test_start_fresh(self):
+        assert parse("start fresh").intent == "system.restart"
+
+    def test_start_over(self):
+        assert parse("start over").intent == "system.restart"
+
+    def test_reset_yourself(self):
+        assert parse("reset yourself").intent == "system.restart"
+
+    def test_requires_confirmation(self):
+        assert parse("restart").requires_confirmation is True
+
+
+class TestSystemVolumeUp:
+    def test_volume_up(self):
+        assert parse("volume up").intent == "system.volume_up"
+
+    def test_louder(self):
+        assert parse("louder").intent == "system.volume_up"
+
+    def test_turn_up(self):
+        assert parse("turn it up").intent == "system.volume_up"
+
+    def test_speak_up(self):
+        assert parse("speak up").intent == "system.volume_up"
+
+    def test_increase_volume(self):
+        assert parse("increase the volume").intent == "system.volume_up"
+
+
+class TestSystemVolumeDown:
+    def test_volume_down(self):
+        assert parse("volume down").intent == "system.volume_down"
+
+    def test_quieter(self):
+        assert parse("quieter").intent == "system.volume_down"
+
+    def test_turn_down(self):
+        assert parse("turn it down").intent == "system.volume_down"
+
+    def test_decrease_volume(self):
+        assert parse("decrease the volume").intent == "system.volume_down"
+
+    def test_mute(self):
+        assert parse("mute").intent == "system.volume_down"
+
+
+class TestSystemVolumeSet:
+    def test_set_volume_numeric(self):
+        r = parse("set volume to 60")
+        assert r.intent == "system.volume_set"
+        assert r.entities.get("level") == "60"
+
+    def test_set_volume_percent(self):
+        r = parse("set the volume to 80 percent")
+        assert r.intent == "system.volume_set"
+        assert r.entities.get("level") == "80"
+
+    def test_set_volume_word_low(self):
+        r = parse("set volume to low")
+        assert r.intent == "system.volume_set"
+        assert r.entities.get("level") == "20"
+
+    def test_set_volume_word_high(self):
+        r = parse("set the volume to high")
+        assert r.intent == "system.volume_set"
+        assert r.entities.get("level") == "80"
+
+    def test_volume_to_50(self):
+        r = parse("volume to 50")
+        assert r.intent == "system.volume_set"
+        assert r.entities.get("level") == "50"
+
+
+# ── Config intents ────────────────────────────────────────────────────────────
+
+
+class TestConfigPersonality:
+    def test_change_personality(self):
+        r = parse("change to friendly personality")
+        assert r.intent == "config.personality"
+        assert r.entities.get("personality") == "friendly"
+
+    def test_switch_personality(self):
+        r = parse("switch to formal personality")
+        assert r.intent == "config.personality"
+
+    def test_use_personality(self):
+        r = parse("use playful personality")
+        assert r.intent == "config.personality"
+        assert r.entities.get("personality") == "playful"
+
+    def test_be_more_adjective(self):
+        r = parse("be more friendly")
+        assert r.intent == "config.personality"
+
+
+class TestConfigSassLevel:
+    def test_more_sassy(self):
+        assert parse("more sassy").intent == "config.sass_level"
+
+    def test_less_sassy(self):
+        assert parse("less sassy").intent == "config.sass_level"
+
+    def test_set_sass_level(self):
+        r = parse("set sass level to 7")
+        assert r.intent == "config.sass_level"
+        assert r.entities.get("level") == "7"
+
+    def test_tone_it_down(self):
+        assert parse("tone it down").intent == "config.sass_level"
+
+    def test_less_sarcastic(self):
+        assert parse("less sarcastic").intent == "config.sass_level"
+
+    def test_more_witty(self):
+        assert parse("more witty").intent == "config.sass_level"
+
+
+class TestConfigFollowMode:
+    def test_change_follow_mode(self):
+        r = parse("change follow mode to loose")
+        assert r.intent in ("config.follow_mode", "nav.set_mode")
+
+    def test_set_follow_mode(self):
+        r = parse("set follow mode to tight")
+        assert r.intent in ("config.follow_mode", "nav.set_mode")
+
+
+# ── Confirmation intents ──────────────────────────────────────────────────────
+
+
+class TestConfirmYes:
+    def test_yes(self):
+        assert parse("yes").intent == "confirm.yes"
+
+    def test_yeah(self):
+        assert parse("yeah").intent == "confirm.yes"
+
+    def test_yep(self):
+        assert parse("yep").intent == "confirm.yes"
+
+    def test_sure(self):
+        assert parse("sure").intent == "confirm.yes"
+
+    def test_ok(self):
+        assert parse("ok").intent == "confirm.yes"
+
+    def test_go_ahead(self):
+        assert parse("go ahead").intent == "confirm.yes"
+
+    def test_do_it(self):
+        assert parse("do it").intent == "confirm.yes"
+
+    def test_affirmative(self):
+        assert parse("affirmative").intent == "confirm.yes"
+
+    def test_correct(self):
+        assert parse("correct").intent == "confirm.yes"
+
+
+class TestConfirmNo:
+    def test_no(self):
+        assert parse("no").intent == "confirm.no"
+
+    def test_nope(self):
+        assert parse("nope").intent == "confirm.no"
+
+    def test_cancel(self):
+        assert parse("cancel").intent == "confirm.no"
+
+    def test_abort(self):
+        assert parse("abort").intent == "confirm.no"
+
+    def test_nevermind(self):
+        assert parse("never mind").intent == "confirm.no"
+
+    def test_negative(self):
+        assert parse("negative").intent == "confirm.no"
+
+
+# ── Fallback ──────────────────────────────────────────────────────────────────
+
+
+class TestFallback:
+    def test_unrecognised(self):
+        r = parse("what is the weather like today")
+        assert r.intent == "fallback"
+        assert r.confidence == 0.0
+
+    def test_empty_string(self):
+        r = parse("")
+        assert r.intent == "fallback"
+
+    def test_numbers_only(self):
+        r = parse("42")
+        assert r.intent == "fallback"
+
+    def test_gibberish(self):
+        r = parse("zxqw frp klmn")
+        assert r.intent == "fallback"
+
+    def test_partial_match_not_enough(self):
+        # "the" alone should not trigger any intent
+        r = parse("the")
+        assert r.intent == "fallback"
+
+    def test_raw_text_preserved(self):
+        r = parse("Hello there!")
+        assert "hello there" in r.raw_text
+
+
+# ── Requires confirmation flag ────────────────────────────────────────────────
+
+
+class TestRequiresConfirmation:
+    def test_shutdown_requires_confirmation(self):
+        assert parse("shut down").requires_confirmation is True
+
+    def test_restart_requires_confirmation(self):
+        assert parse("restart").requires_confirmation is True
+
+    def test_forget_me_requires_confirmation(self):
+        assert parse("forget me").requires_confirmation is True
+
+    def test_stop_does_not_require_confirmation(self):
+        assert parse("stop").requires_confirmation is False
+
+    def test_go_home_does_not_require_confirmation(self):
+        assert parse("go home").requires_confirmation is False
+
+    def test_battery_does_not_require_confirmation(self):
+        assert parse("battery status").requires_confirmation is False
+
+
+# ── Confidence values ─────────────────────────────────────────────────────────
+
+
+class TestConfidence:
+    def test_high_confidence_intents(self):
+        for text in ("go to the kitchen", "stop", "shut down", "forget me"):
+            r = parse(text)
+            assert r.confidence >= 0.90, f"Low confidence for: {text!r}"
+
+    def test_fallback_has_zero_confidence(self):
+        assert parse("what is two plus two").confidence == 0.0
+
+
+# ── Case insensitivity ────────────────────────────────────────────────────────
+
+
+class TestCaseInsensitivity:
+    def test_uppercase(self):
+        assert parse("STOP").intent == "nav.stop"
+
+    def test_mixed_case(self):
+        assert parse("Go To The Kitchen").intent == "nav.go_to"
+
+    def test_upper_follow_me(self):
+        assert parse("FOLLOW ME").intent == "nav.follow_me"
+
+
+# ── Mode inference from text ──────────────────────────────────────────────────
+
+
+class TestModeFromText:
+    def test_shadow_keyword(self):
+        assert _mode_from_text("shadow") == "shadow"
+
+    def test_lead_keyword(self):
+        assert _mode_from_text("go ahead") == "lead"
+
+    def test_orbit_keyword(self):
+        assert _mode_from_text("orbit") == "orbit"
+
+    def test_none_for_unknown(self):
+        assert _mode_from_text("random text here") is None

jetson/ros2_ws/src/saltybot_social_msgs/CMakeLists.txt

@@ -33,6 +33,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/VadState.msg"
   # Issue #83 — conversation engine
   "msg/ConversationResponse.msg"
+  # Issue #137 — voice command NLU
+  "msg/VoiceCommand.msg"
   DEPENDENCIES std_msgs geometry_msgs builtin_interfaces
 )
 

jetson/ros2_ws/src/saltybot_social_msgs/msg/VoiceCommand.msg

@@ -0,0 +1,25 @@
+# VoiceCommand.msg — Parsed voice command with NLU intent, entities, and confidence.
+# Published by voice_command_node on /social/voice_command (Issue #137).
+#
+# Intent namespace:
+#   nav.*     — navigation commands
+#   social.*  — social / enrollment commands
+#   system.*  — robot system control
+#   config.*  — behavior configuration
+#   confirm.* — confirmation flow responses (yes / no)
+#   fallback  — unrecognized; route to LLM conversation engine
+
+std_msgs/Header header
+
+string  intent                  # e.g. "nav.go_to", "social.remember_me", "fallback"
+string  raw_text                # Normalized transcribed text (lowercased, punctuation stripped)
+string  speaker_id              # Who issued the command (from SpeechTranscript.speaker_id)
+float32 confidence              # NLU match confidence 0..1
+
+# Entities: key=value pairs, e.g. ["location=kitchen", "mode=shadow", "name=Alice"]
+# Parse with: dict(e.split("=", 1) for e in entities)
+string[] entities
+
+# Confirmation flow (for dangerous commands: system.shutdown, system.restart, social.forget_me)
+bool    requires_confirmation   # true = awaiting confirm.yes before execution
+string  confirmation_token      # UUID matching this command to its confirmation response