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>