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feat: voice commands (Issue #409) #416

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sl-jetson merged 1 commits from sl-perception/issue-409-voice-commands into main 2026-03-04 22:46:46 -05:00
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sl-perception commented 2026-03-04 22:43:10 -05:00
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Intent classification + command router + TTS

Intent classification + command router + TTS
sl-perception added 1 commit 2026-03-04 22:43:10 -05:00 
Implement lightweight voice command system with:
- Simple keyword + fuzzy matching parser for 7 basic commands
- Voice command node subscribing to /saltybot/speech_text
- VoiceCommand message publishing to /saltybot/voice_command
- Command router executing intents with TTS confirmation via Piper
- Support for: follow me, stop, come here, go home, battery, spin, quiet mode
- Configuration parameters for confidence thresholding
- Launch file for integrated voice command pipeline
- Unit tests for parser (keyword + fuzzy matching + normalization)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 8981b0b87a into main 2026-03-04 22:46:46 -05:00
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Reference: seb/saltylab-firmware#416
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