Qualification salvage

common/speech/lasr_speech_recognition_whisper/nodes/transcribe_microphone_server

@@ -13,6 +13,7 @@ import torch
 import actionlib
 import speech_recognition as sr  # type: ignore
 import lasr_speech_recognition_msgs.msg  # type: ignore
+from std_msgs.msg import String  # type: ignore
 from lasr_speech_recognition_whisper import load_model  # type: ignore
 
 # Error handler to remove ALSA error messages taken from:
@@ -83,15 +84,17 @@ class TranscribeSpeechAction(object):
 
         self._action_name = action_name
         self._model_params = model_params
-
+        self._transcription_server = rospy.Publisher(
+            "/live_speech_transcription", String, queue_size=10
+        )
         with noalsaerr():
             self._model = load_model(
                 self._model_params.model_name,
                 self._model_params.device,
                 self._model_params.warmup,
             )
             # Configure the speech recogniser object and adjust for ambient noise
-            self.recogniser = self._configure_recogniser()
+            self.recogniser = self._configure_recogniser(ambient_adj=True)
             # Setup the action server and register execution callback
             self._action_server = actionlib.SimpleActionServer(
                 self._action_name,
@@ -110,6 +113,7 @@ class TranscribeSpeechAction(object):
             self._action_server.start()
 
     def _timer_cb(self, _) -> None:
+        return
         """Adjusts the microphone for ambient noise, unless the action server is listening."""
         if self._listening:
             return
@@ -223,7 +227,7 @@ class TranscribeSpeechAction(object):
         rospy.loginfo(
             f"Time taken: {transcription_end_time - transcription_start_time:.2f}s"
         )
-
+        self._transcription_server.publish(phrase)
         if self._action_server.is_preempt_requested():
             self._listening = False
             return
@@ -248,13 +252,13 @@ def parse_args() -> dict:
     )
 
     parser.add_argument(
-        "--action-name",
+        "--action_name",
         type=str,
         default="transcribe_speech",
         help="Name of the action server.",
     )
     parser.add_argument(
-        "--model-name",
+        "--model_name",
         type=str,
         default="medium.en",
         help="Name of the speech recognition model.",
@@ -300,8 +304,8 @@ def parse_args() -> dict:
         action="store_true",
         help="Disable warming up the model by running inference on a test file.",
     )
-
-    return vars(parser.parse_args())
+    args, unknown = parser.parse_known_args()
+    return vars(args)
 
 
 def configure_model_params(config: dict) -> speech_model_params:
@@ -346,6 +350,8 @@ def configure_whisper_cache() -> None:
 if __name__ == "__main__":
     configure_whisper_cache()
     config = parse_args()
-    rospy.init_node(config["action_name"])
-    server = TranscribeSpeechAction(rospy.get_name(), configure_model_params(config))
+    rospy.init_node("speech_transcription_node")
+    server = TranscribeSpeechAction(
+        config["action_name"], configure_model_params(config)
+    )
     rospy.spin()

common/vector_databases/lasr_vector_databases_faiss/.gitignore

@@ -0,0 +1,2 @@
+data/**
+!data/.gitkeep

common/vector_databases/lasr_vector_databases_faiss/CMakeLists.txt

@@ -0,0 +1,216 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(lasr_vector_databases_faiss)
+
+## 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 catkin_virtualenv)
+
+## 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()
+catkin_generate_virtualenv(
+  INPUT_REQUIREMENTS requirements.in
+  PYTHON_INTERPRETER python3.9
+)
+################################################
+## 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(
+#   DIRECTORY action
+#   FILES WaitGreet.action Identify.action Greet.action GetName.action LearnFace.action GetCommand.action Guide.action DetectPeople.action FindPerson.action ReceiveObject.action HandoverObject.action
+# )
+
+# Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   actionlib_msgs
+#   geometry_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 qualification
+#  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/${PROJECT_NAME}/qualification.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/qualification_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
+#   nodes/qualification
+#   nodes/actions/wait_greet
+#   nodes/actions/identify
+#   nodes/actions/greet
+#   nodes/actions/get_name
+#   nodes/actions/learn_face
+#   nodes/actions/get_command
+#   nodes/actions/guide
+#   nodes/actions/find_person
+#   nodes/actions/detect_people
+#   nodes/actions/receive_object
+#   nodes/actions/handover_object
+#   nodes/better_qualification
+#   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_qualification.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)

common/vector_databases/lasr_vector_databases_faiss/package.xml

@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>lasr_vector_databases_faiss</name>
+  <version>0.0.0</version>
+  <description>The faiss package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Matt Barker</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>MIT</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/qualification</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">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>catkin_virtualenv</build_depend>
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+</package>

common/vector_databases/lasr_vector_databases_faiss/requirements.in

@@ -0,0 +1 @@
+faiss-cpu