feat: working launch file and quesiton answering with TTS

m-barker · Mar 6, 2024 · e234f9d · e234f9d
1 parent 014c6e9
commit e234f9d
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Showing 3 changed files with 21 additions and 13 deletions.
diff --git a/tasks/gpsr/launch/question_answer.launch b/tasks/gpsr/launch/question_answer.launch
@@ -19,4 +19,12 @@
         args="--k $(arg k) --index_path $(arg index_path) --txt_path $(arg text_path) --xml_path $(arg xml_path)"
     />
 
+    <node
+        pkg="lasr_speech_recognition_whisper"
+        type="transcribe_microphone_server"
+        name="transcribe_speech"
+        output="screen"
+        args="--mic_device 5"
+    />
+
 </launch>
diff --git a/tasks/gpsr/nodes/question_answer b/tasks/gpsr/nodes/question_answer
@@ -76,18 +76,17 @@ def parse_args() -> dict:
 if __name__ == "__main__":
     rospy.init_node("gpsr_question_answer")
     args: dict = parse_args()
-    print(args)
-    q_a_sm = QuestionAnswerStateMachine(args)
-    outcome = q_a_sm.execute()
-    voice = Voice()
-    if outcome == "succeeded":
-        rospy.loginfo(f"Question: {args['question']}")
-        rospy.loginfo(f"Closest Answers: {q_a_sm.userdata.closest_answers}")
-        voice.sync_tts(
-            f"The answer to your question is: {q_a_sm.userdata.closest_answers[0]}"
-        )
-    else:
-        rospy.logerr("Question Answer State Machine failed")
-        voice.sync_tts(f"Sorry, I wasn't able to find an answer to your question")
+    while not rospy.is_shutdown():
+        q_a_sm = QuestionAnswerStateMachine(args)
+        outcome = q_a_sm.execute()
+        voice = Voice()
+        if outcome == "succeeded":
+            rospy.loginfo(f"Closest Answers: {q_a_sm.userdata.closest_answers}")
+            voice.sync_tts(
+                f"The answer to your question is: {q_a_sm.userdata.closest_answers[0]}"
+            )
+        else:
+            rospy.logerr("Question Answer State Machine failed")
+            voice.sync_tts(f"Sorry, I wasn't able to find an answer to your question")
 
     rospy.spin()
diff --git a/tasks/gpsr/package.xml b/tasks/gpsr/package.xml
@@ -51,6 +51,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <depend>lasr_vector_databases_faiss</depend>
   <depend>lasr_vector_databases_msgs</depend>
+  <depend>lasr_speech_recognition_whisper</depend>
   <!-- <build_depend>catkin_virtualenv</build_depend> -->
   <!-- The export tag contains other, unspecified, tags -->
   <export>