ROS2 Voice Command Bot

Control a TurtleBot3 robot in Gazebo using your voice.

Requirements

• ROS2 Humble
• Python 3.10
• Vosk Model (download and extract into models/): Vosk Model

Setup

1. Clone the repository into your ROS2 workspace:

   cd ~/voice_ws/src
   git clone https://github.com/yourusername/ros2-voice-cmd-bot.git

2. Build the workspace:

   cd ~/voice_ws
   colcon build

3. Source the setup file:

   source install/setup.bash

4. Download the Vosk Model (e.g., vosk-model-small-en-us-0.15) and extract it into the models/ directory:

   mkdir -p ~/voice_ws/src/voice_cmd_bot/models
   cd ~/voice_ws/src/voice_cmd_bot/models
   # Download and extract model (use the appropriate link)
   wget https://alphacephei.com/vosk/models/vosk-model-small-en-us-0.15.zip
   unzip vosk-model-small-en-us-0.15.zip

5. The model should now be in the ~/voice_ws/src/voice_cmd_bot/models/vosk-model-small-en-us-0.15 folder.

Run

To simulate the bot using voice commands, run the following in separate terminals:

1. Terminal 1 – Launch the Gazebo simulation:

   ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

2. Terminal 2 – Start the voice command recognition node:

   ros2 run voice_cmd_bot voice_node

3. Terminal 3 – Start the command mapper to convert voice commands to robot motion:

   ros2 run voice_cmd_bot command_mapper

Voice Commands

• Say "forward" to move the robot forward.
• Say "backward" to move the robot backward.
• Say "left" to turn the robot left.
• Say "right" to turn the robot right.
• Say "stop" to stop the robot.

The bot should respond to these voice commands by moving accordingly in the Gazebo simulation.

Troubleshooting

• Ensure the Vosk model is downloaded and extracted correctly.
• Verify your microphone is working and properly configured in VirtualBox (enable audio input).
• If you encounter issues with dependencies, check that all necessary packages (sounddevice, vosk, rclpy, etc.) are installed correctly.