sl-firmware
6f3dd46285
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>
21 lines
714 B
Python
21 lines
714 B
Python
from setuptools import setup
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package_name = 'saltybot_audio_pipeline'
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setup(
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name=package_name,
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version='1.0.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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('share/' + package_name + '/launch', ['launch/audio_pipeline.launch.py']),
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('share/' + package_name + '/config', ['config/audio_pipeline_params.yaml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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author='Salty Lab',
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entry_points={
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'console_scripts': [
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'audio_pipeline_node = saltybot_audio_pipeline.audio_pipeline_node:main',
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],
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},
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) |