This repository provides a set of ROS 2 packages to integrate whisper.cpp into ROS 2 using audio_common. Besides, silero-vad is used to perform VAD (Voice Activity Detection).
$ cd ~/ros2_ws/src
$ git clone https://github.com/mgonzs13/audio_common.git
$ git clone --recurse-submodules https://github.com/mgonzs13/whisper_ros.git
$ sudo apt install portaudio19-dev
$ pip3 install -r audio_common/requirements.txt
$ pip3 install -r whisper_ros/requirements.txt
$ cd ~/ros2_ws
$ colcon buildTo run llama_ros with CUDA, first, you must install the CUDA Toolkit. Then, you have to set the environment variable WHISPER_CUDA to on:
export WHISPER_CUDA="on"Run Silero for VAD and Whisper for STT:
$ ros2 launch whisper_bringup whisper.launch.pySend a goal action to listen:
$ ros2 action send_goal /whisper/listen whisper_msgs/action/STT "{}"Or try the example of a whisper client:
$ ros2 run whisper_ros whisper_demo_node
