noetic-llama

docker-compose docker containers required for LCASTOR intent recognition and transcription with whisper. Currently, whisperwrapper needs to be run outside of docker due to problems passing through the microphone, which is why it is symlinked here.

If being run in a VM, set the whisper API url ROS parameter:

rosparam set /stt/whisper_api_url 192.168.122.1:9000

If being run on a separate PC to the host, you may need to set these parameters:

export ROS_MASTER_URI=http://10.68.0.1:11311

export ROS_IP=10.68.0.130

Obviously you should update the IP addresses with the appropirate ones as applicable.

If debugging, you might need to manually make the node transcribe:

rostopic pub /stt/listening ollamamessages/WhisperListening "listening: True" -1

There is a bash script provided to start the whisper node, make sure you have compiled, sourced, and are in the correct directory first.

TODOs

• [ ] Make a proper parser for the function calls returned by ollama instead of just using exec(), this will allow us to fetch the return value of the functions, and it's also much safer. A grammar has already been made, see ollamafunctiongrammar.ppeg, just need to finish the abstract syntax tree parsing (see parser.py)