c249b2d74e
Add phone/voice_commander.py — Termux-based voice command listener for SaltyBot:
- Continuous wake word detection ('Hey Salty') via Whisper STT on short audio clips
- Command recording after wake word, transcribed with local Whisper (tiny/base/small)
- Parses go forward/back/left/right, stop, follow me, go home, look at me
- Publishes JSON to /saltybot/voice/cmd via ROS2 (rclpy) or rosbridge WebSocket
- TTS confirmation via termux-tts-speak; 'Yes?' prompt on wake word
- Fuzzy token-overlap fallback for wake word matching
- Flags: --host, --port, --model, --threshold, --record-sec, --no-tts, --debug
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
SaltyBot Android/Termux Phone Node (Issue #420)
Android phone node for SaltyBot via Termux. Provides camera, GPS, IMU sensors and local OpenClaw LLM inference.
Setup
On phone (Termux):
bash termux-bootstrap.sh
mkdir -p ~/saltybot_workspace/src
cd ~/saltybot_workspace && colcon build
Running
cd ~/saltybot_workspace && source install/setup.bash
ros2 launch saltybot_phone phone_bringup.py
Topics
| Topic | Type | Description |
|---|---|---|
/phone/camera/image_raw |
Image | Camera frames 320x240@15Hz |
/phone/gps |
NavSatFix | GPS location |
/phone/imu |
Imu | Accelerometer data |
/saltybot/speech_text |
String | Input from Jetson |
/saltybot/chat_response |
String | LLM output to Jetson |
Power Management
nohup bash ~/power-management.sh > ~/power-mgmt.log 2>&1 &
Reduces CPU activity on low battery (<25%) or critical battery (<15%).
Configuration
Edit config/phone.yaml to adjust frame rates and LLM parameters.
Issue #420 Completion
✅ Termux bootstrap ✅ Camera / GPS / IMU nodes ✅ OpenClaw chat (local LLM) ✅ WebSocket bridge to Orin ✅ Termux:Boot auto-start ✅ Power management