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sl-firmware 6f3dd46285 feat: Add Issue #503 - Audio pipeline with Jabra SPEAK 810

Implement full audio pipeline with:
- Jabra SPEAK 810 USB audio I/O (mic + speaker)
- openwakeword 'Hey Salty' wake word detection
- whisper.cpp GPU-accelerated STT (small/base/medium/large models)
- piper TTS synthesis and playback
- Audio state machine: listening → processing → speaking
- MQTT status and state reporting
- Real-time latency metrics tracking

ROS2 Topics Published:
- /saltybot/speech/transcribed_text: STT output for voice router
- /saltybot/audio/state: Current audio state
- /saltybot/audio/status: JSON metrics with latencies

MQTT Topics:
- saltybot/audio/state: Current state (listening/processing/speaking)
- saltybot/audio/status: Complete status JSON

Configuration parameters in yaml:
- device_name: Jabra device pattern
- wake_word_threshold: 0.5 (tunable)
- whisper_model: small/base/medium/large
- mqtt_enabled: true/false with broker config

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-06 10:30:58 -05:00

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