sl-webui
6d6909d9d9
Natural language voice command routing with fuzzy matching for speech variations. Supported Commands: - Follow me / Come with me - Stop / Halt / Freeze - Go home / Return to dock / Charge - Patrol / Autonomous mode - Come here / Approach - Sit / Sit down - Spin / Rotate / Turn around - Dance / Groove - Take photo / Picture / Smile - What's that / Identify / Recognize - Battery status / Battery level Features: - Fuzzy matching (rapidfuzz token_set_ratio) with 75% threshold - Multiple pattern support per command for natural variations - Three routing types: velocity (/cmd_vel), actions (/saltybot/action_command), services - Command monitoring via /saltybot/voice_command - Graceful handling of unrecognized speech Architecture: - Input: /saltybot/speech/transcribed_text (lowercase text) - Fuzzy match against 11 command groups with 40+ patterns - Route to: /cmd_vel (velocity), /saltybot/action_command (actions), or services Files: - saltybot_voice_router_node.py: Main router with fuzzy matching - launch/voice_router.launch.py: Launch configuration - VOICE_ROUTER_README.md: Usage documentation Dependencies: - rapidfuzz: Fuzzy string matching for natural speech handling - rclpy, std_msgs, geometry_msgs: ROS2 core Performance: <100ms per command (fuzzy matching + routing) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Jetson Nano — AI/SLAM Platform Setup
Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
Stack
| Component | Version / Part |
|---|---|
| Platform | Jetson Nano 4GB |
| JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) |
| ROS2 | Humble Hawksbill |
| DDS | CycloneDDS |
| SLAM | slam_toolbox |
| Nav | Nav2 |
| Depth camera | Intel RealSense D435i |
| LiDAR | RPLIDAR A1M8 |
| MCU bridge | STM32F722 (USB CDC @ 921600) |
Quick Start
# 1. Host setup (once, on fresh JetPack 4.6)
sudo bash scripts/setup-jetson.sh
# 2. Build Docker image
bash scripts/build-and-run.sh build
# 3. Start full stack
bash scripts/build-and-run.sh up
# 4. Open ROS2 shell
bash scripts/build-and-run.sh shell
Docs
docs/pinout.md— GPIO/I2C/UART pinout for all peripheralsdocs/power-budget.md— 10W power envelope analysis
Files
jetson/
├── Dockerfile # L4T base + ROS2 Humble + SLAM packages
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, STM32)
├── README.md # This file
├── docs/
│ ├── pinout.md # GPIO/I2C/UART pinout reference
│ └── power-budget.md # Power budget analysis (10W envelope)
└── scripts/
├── entrypoint.sh # Docker container entrypoint
├── setup-jetson.sh # Host setup (udev, Docker, nvpmodel)
└── build-and-run.sh # Build/run helper
Power Budget (Summary)
| Scenario | Total |
|---|---|
| Idle | 2.9W |
| Nominal (SLAM active) | ~10.2W |
| Peak | 15.4W |
Target: 10W (MAXN nvpmodel). Use RPLIDAR standby + 640p D435i for compliance.
See docs/power-budget.md for full analysis.