diff options
Diffstat (limited to 'noetic-llama/src/whisperwrapper')
| -rw-r--r-- | noetic-llama/src/whisperwrapper/CMakeLists.txt | 206 | ||||
| -rw-r--r-- | noetic-llama/src/whisperwrapper/package.xml | 68 | ||||
| -rw-r--r-- | noetic-llama/src/whisperwrapper/src/list_microphones.py | 4 | ||||
| -rw-r--r-- | noetic-llama/src/whisperwrapper/src/whisperwrapper.py | 91 |
4 files changed, 0 insertions, 369 deletions
diff --git a/noetic-llama/src/whisperwrapper/CMakeLists.txt b/noetic-llama/src/whisperwrapper/CMakeLists.txt deleted file mode 100644 index 6d3f9a4..0000000 --- a/noetic-llama/src/whisperwrapper/CMakeLists.txt +++ /dev/null @@ -1,206 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(whisperwrapper) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES whisperwrapper -# CATKIN_DEPENDS roscpp rospy std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/whisperwrapper.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/whisperwrapper_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -catkin_install_python(PROGRAMS - src/whisperwrapper.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_whisperwrapper.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/noetic-llama/src/whisperwrapper/package.xml b/noetic-llama/src/whisperwrapper/package.xml deleted file mode 100644 index 52f3fd7..0000000 --- a/noetic-llama/src/whisperwrapper/package.xml +++ /dev/null @@ -1,68 +0,0 @@ -<?xml version="1.0"?> -<package format="2"> - <name>whisperwrapper</name> - <version>0.0.0</version> - <description>The whisperwrapper package</description> - - <!-- One maintainer tag required, multiple allowed, one person per tag --> - <!-- Example: --> - <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> - <maintainer email="eden@todo.todo">eden</maintainer> - - - <!-- One license tag required, multiple allowed, one license per tag --> - <!-- Commonly used license strings: --> - <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> - <license>TODO</license> - - - <!-- Url tags are optional, but multiple are allowed, one per tag --> - <!-- Optional attribute type can be: website, bugtracker, or repository --> - <!-- Example: --> - <!-- <url type="website">http://wiki.ros.org/whisperwrapper</url> --> - - - <!-- Author tags are optional, multiple are allowed, one per tag --> - <!-- Authors do not have to be maintainers, but could be --> - <!-- Example: --> - <!-- <author email="jane.doe@example.com">Jane Doe</author> --> - - - <!-- The *depend tags are used to specify dependencies --> - <!-- Dependencies can be catkin packages or system dependencies --> - <!-- Examples: --> - <!-- Use depend as a shortcut for packages that are both build and exec dependencies --> - <!-- <depend>roscpp</depend> --> - <!-- Note that this is equivalent to the following: --> - <!-- <build_depend>roscpp</build_depend> --> - <!-- <exec_depend>roscpp</exec_depend> --> - <!-- Use build_depend for packages you need at compile time: --> - <!-- <build_depend>message_generation</build_depend> --> - <!-- Use build_export_depend for packages you need in order to build against this package: --> - <!-- <build_export_depend>message_generation</build_export_depend> --> - <!-- Use buildtool_depend for build tool packages: --> - <!-- <buildtool_depend>catkin</buildtool_depend> --> - <!-- Use exec_depend for packages you need at runtime: --> - <!-- <exec_depend>message_runtime</exec_depend> --> - <!-- Use test_depend for packages you need only for testing: --> - <!-- <test_depend>gtest</test_depend> --> - <!-- Use doc_depend for packages you need only for building documentation: --> - <!-- <doc_depend>doxygen</doc_depend> --> - <buildtool_depend>catkin</buildtool_depend> - <build_depend>roscpp</build_depend> - <build_depend>rospy</build_depend> - <build_depend>std_msgs</build_depend> - <build_export_depend>roscpp</build_export_depend> - <build_export_depend>rospy</build_export_depend> - <build_export_depend>std_msgs</build_export_depend> - <exec_depend>roscpp</exec_depend> - <exec_depend>rospy</exec_depend> - <exec_depend>std_msgs</exec_depend> - - - <!-- The export tag contains other, unspecified, tags --> - <export> - <!-- Other tools can request additional information be placed here --> - - </export> -</package> diff --git a/noetic-llama/src/whisperwrapper/src/list_microphones.py b/noetic-llama/src/whisperwrapper/src/list_microphones.py deleted file mode 100644 index d5b49ff..0000000 --- a/noetic-llama/src/whisperwrapper/src/list_microphones.py +++ /dev/null @@ -1,4 +0,0 @@ -import speech_recognition as sr - -for index, name in enumerate(sr.Microphone.list_microphone_names()): - print("Microphone with name \"{1}\" found for `Microphone(device_index={0})`".format(index, name))
\ No newline at end of file diff --git a/noetic-llama/src/whisperwrapper/src/whisperwrapper.py b/noetic-llama/src/whisperwrapper/src/whisperwrapper.py deleted file mode 100644 index 4cd703b..0000000 --- a/noetic-llama/src/whisperwrapper/src/whisperwrapper.py +++ /dev/null @@ -1,91 +0,0 @@ -#!/usr/bin/env python3 - -from ollamamessages.msg import WhisperTranscription, WhisperListening -from ollamamessages.srv import OllamaCall, OllamaCallResponse - -import speech_recognition as sr -import threading -import tempfile -import requests -import rospy -import time -import json -import os - -whisper_api_url = rospy.get_param("/stt/whisper_api_url", "127.0.0.1:9000") -pause = rospy.get_param("/stt/speech_recogn_pause_time", 0.8) -energy = rospy.get_param("/stt/speech_recogn_energy", 400) -dynamic_energy = rospy.get_param("/stt/speech_recogn_dyn_energy_flag", False) -microphone_device = rospy.get_param("/stt/microphone_device", 1) -no_speech_thresh = rospy.get_param("/stt/speech_confidence_thresh", 0.1) - -class WhisperWrapper: - - listening = False - - def __init__(self) -> None: - self.transcription_pub = rospy.Publisher("/stt/transcription", WhisperTranscription, queue_size = 1) - self.listening_sub = rospy.Subscriber("/stt/listening", WhisperListening, self.listening_sub_cb) - - self.record_audio(pause, energy, dynamic_energy, microphone_device) - - def listening_sub_cb(self, set_listening): - rospy.loginfo("Set listening = %s" % str(set_listening.listening)) - self.listening = set_listening.listening - - def record_audio(self, pause, energy, dynamic_energy, microphone_device): - recogniser = sr.Recognizer() - recogniser.energy_threshold = energy - recogniser.pause_threshold = pause - recogniser.dynamic_energy_threshold = dynamic_energy - - with sr.Microphone(sample_rate = 10000) as microphone: - rospy.loginfo("Listening...") - while True and not rospy.is_shutdown(): - audio = recogniser.listen(microphone) - - if not self.listening: - rospy.loginfo("I heard something but I'm stopping here because we've been set to not listen") - continue - - with tempfile.NamedTemporaryFile(mode = "wb", suffix = ".wav", delete = False) as f: - audio_path = f.name - f.write(audio.get_wav_data()) - - rospy.loginfo("I heard something... Written to %s" % audio_path) - req = requests.post( - "http://%s/asr?output=json" % whisper_api_url, - files = {"audio_file": open(audio_path, "rb")} - ) - os.remove(audio_path) - o = req.json() - rospy.loginfo("Transcribed '%s'" % o["text"]) - if o["text"] != "": - self.transcription_pub.publish( - text = o["text"], - language = o["language"], - temperature = o["segments"][0]["temperature"], - avg_logprob = o["segments"][0]["avg_logprob"], - compression_ratio = o["segments"][0]["compression_ratio"], - no_speech_prob = o["segments"][0]["no_speech_prob"] - ) - - if o["segments"][0]["no_speech_prob"] < no_speech_thresh: - self.run_ollama(o["text"]) - else: - rospy.loginfo("Skipped due to low confidence it's actually speech.") - - def run_ollama(self, text): - service_call = rospy.ServiceProxy("/stt/ollamacall", OllamaCall) - response = service_call(input = text) - print(response) - - - - -if __name__ == "__main__": - rospy.init_node("whisper_wrapper") - whisperwrapper = WhisperWrapper() - - - |