sl-jetson
fabb988e72
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## New files
- saltybot_social_msgs/msg/VoiceCommand.msg
intent + entities[] + confidence + confirmation_token + requires_confirmation
- saltybot_social/voice_command_parser.py
Pure-Python regex NLU, zero ROS2/ML deps, < 1 ms/call
30+ named intents across nav.*, social.*, system.*, config.*, confirm.*
Entity extraction: location, name, mode, level, route name
Dangerous-command flag: system.shutdown, system.restart, social.forget_me
- saltybot_social/voice_command_node.py
Subscribes /social/speech/transcript, publishes /social/voice_command
Confirmation flow with UUID token + 10 s timeout
Below-threshold → intent=fallback → LLM conversation engine
- saltybot_social/test/test_voice_command_parser.py
191 unit tests (all pass), no ROS2 runtime required
- saltybot_social/config/voice_command_params.yaml
- saltybot_social/launch/voice_command.launch.py
## Intent taxonomy
nav: go_to, go_home, follow_me, stop, wait, come_here, patrol,
set_mode (shadow/lead/side/orbit/loose/tight),
teach_route, stop_teaching, replay_route
social: remember_me, forget_me [CONFIRM], whats_my_name, tell_joke
system: battery_status, map_status, shutdown [CONFIRM], restart [CONFIRM],
volume_up, volume_down, volume_set
config: personality, sass_level, follow_mode
## Updated
- saltybot_social_msgs/CMakeLists.txt: register VoiceCommand.msg
- saltybot_social/setup.py: add voice_command_node entry point
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
26 lines
1.2 KiB
Plaintext
26 lines
1.2 KiB
Plaintext
# VoiceCommand.msg — Parsed voice command with NLU intent, entities, and confidence.
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# Published by voice_command_node on /social/voice_command (Issue #137).
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#
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# Intent namespace:
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# nav.* — navigation commands
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# social.* — social / enrollment commands
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# system.* — robot system control
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# config.* — behavior configuration
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# confirm.* — confirmation flow responses (yes / no)
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# fallback — unrecognized; route to LLM conversation engine
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std_msgs/Header header
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string intent # e.g. "nav.go_to", "social.remember_me", "fallback"
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string raw_text # Normalized transcribed text (lowercased, punctuation stripped)
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string speaker_id # Who issued the command (from SpeechTranscript.speaker_id)
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float32 confidence # NLU match confidence 0..1
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# Entities: key=value pairs, e.g. ["location=kitchen", "mode=shadow", "name=Alice"]
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# Parse with: dict(e.split("=", 1) for e in entities)
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string[] entities
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# Confirmation flow (for dangerous commands: system.shutdown, system.restart, social.forget_me)
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bool requires_confirmation # true = awaiting confirm.yes before execution
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string confirmation_token # UUID matching this command to its confirmation response
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