- Add VoskSTT class to audio_utils.py: offline Vosk STT backend as
low-latency CPU alternative to Whisper for Jetson deployments
- Update audio_pipeline_node.py: stt_backend param ("whisper"/"vosk"),
Vosk loading with Whisper fallback, CPU auto-detection for Whisper,
dual-backend _process_utterance dispatch, STT/<backend> log prefix
- Update audio_pipeline_params.yaml: add stt_backend and vosk_model_path
- Add test/test_audio_pipeline.py: 40 unit tests covering EnergyVAD,
PCM conversion, AudioBuffer, UtteranceSegmenter, VoskSTT, JabraAudioDevice,
AudioMetrics, AudioState
- Integrate into full_stack.launch.py: audio_pipeline at t=5s with
enable_audio_pipeline and audio_stt_backend args
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-jetson
14164089dc