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start_rosbridge.sh => ros2_ws/start_rosbridge.sh (100%) create mode 100644 ros_docker/Dockerfile create mode 100755 ros_docker/entrypoint.sh create mode 100644 ros_docker/index.html create mode 100755 ros_docker/rebuild.sh delete mode 160000 src/vision_opencv diff --git a/README.md b/README.md new file mode 100644 index 0000000..2c56451 --- /dev/null +++ b/README.md @@ -0,0 +1,25 @@ +# Little Sophia's Brain + +ROS2 modules and docker environment setups for higher level AI, speech, and sense functions for Little Sophia + +- Face Detection +- Voice-to-Text (V2T) + +--- + +## Installation + +1. Docker and ros2_ws folders contain scripts to build and run +2. ***Ask jake to put more info here + + +## TODO: +Tested with usb mic and camera only (Logitech C920) + +## File Overview + +| File | Description | +|------------------|------------------------------------------------------------------------------| +| `RetinaFace.rknn` | RKNN model for face detection and video streaming. | +| `main.py` | Core script. Integrates face detection and voice-to-text into Flask stream. | +| `realtime.py` | Voice-to-text module (Vosk). For testing separately. | \ No newline at end of file diff --git a/build.sh b/ros2_ws/build.sh similarity index 100% rename from build.sh rename to ros2_ws/build.sh diff --git a/build/.built_by b/ros2_ws/build/.built_by similarity index 100% rename from build/.built_by rename to ros2_ws/build/.built_by diff --git a/build/COLCON_IGNORE b/ros2_ws/build/COLCON_IGNORE similarity index 100% rename from build/COLCON_IGNORE rename to ros2_ws/build/COLCON_IGNORE diff --git a/build/camera_module/build/lib/camera_module/__init__.py b/ros2_ws/build/camera_module/build/lib/camera_module/__init__.py similarity index 100% rename from build/camera_module/build/lib/camera_module/__init__.py rename to ros2_ws/build/camera_module/build/lib/camera_module/__init__.py diff --git a/build/camera_module/build/lib/camera_module/camera_module.py b/ros2_ws/build/camera_module/build/lib/camera_module/camera_module.py similarity index 100% rename from build/camera_module/build/lib/camera_module/camera_module.py 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a/src/voice_to_text_node/resource/voice_to_text_node b/ros2_ws/src/voice_to_text_node/resource/voice_to_text_node similarity index 100% rename from src/voice_to_text_node/resource/voice_to_text_node rename to ros2_ws/src/voice_to_text_node/resource/voice_to_text_node diff --git a/src/voice_to_text_node/setup.py b/ros2_ws/src/voice_to_text_node/setup.py similarity index 100% rename from src/voice_to_text_node/setup.py rename to ros2_ws/src/voice_to_text_node/setup.py diff --git a/src/voice_to_text_node/voice_to_text_node/__init__.py b/ros2_ws/src/voice_to_text_node/voice_to_text_node/__init__.py similarity index 100% rename from src/voice_to_text_node/voice_to_text_node/__init__.py rename to ros2_ws/src/voice_to_text_node/voice_to_text_node/__init__.py diff --git a/src/voice_to_text_node/voice_to_text_node/__pycache__/cam_test.cpython-38.pyc b/ros2_ws/src/voice_to_text_node/voice_to_text_node/__pycache__/cam_test.cpython-38.pyc similarity index 100% rename from src/voice_to_text_node/voice_to_text_node/__pycache__/cam_test.cpython-38.pyc rename to ros2_ws/src/voice_to_text_node/voice_to_text_node/__pycache__/cam_test.cpython-38.pyc diff --git a/src/voice_to_text_node/voice_to_text_node/threaded_node.py b/ros2_ws/src/voice_to_text_node/voice_to_text_node/threaded_node.py similarity index 100% rename from src/voice_to_text_node/voice_to_text_node/threaded_node.py rename to ros2_ws/src/voice_to_text_node/voice_to_text_node/threaded_node.py diff --git a/src/voice_to_text_node/voice_to_text_node/voice_to_text_node.py b/ros2_ws/src/voice_to_text_node/voice_to_text_node/voice_to_text_node.py similarity index 100% rename from src/voice_to_text_node/voice_to_text_node/voice_to_text_node.py rename to ros2_ws/src/voice_to_text_node/voice_to_text_node/voice_to_text_node.py diff --git a/start_rosbridge.sh b/ros2_ws/start_rosbridge.sh similarity index 100% rename from start_rosbridge.sh rename to ros2_ws/start_rosbridge.sh diff --git a/ros_docker/Dockerfile b/ros_docker/Dockerfile new file mode 100644 index 0000000..dc3dda4 --- /dev/null +++ b/ros_docker/Dockerfile @@ -0,0 +1,24 @@ +# Start from ROS 2 Kilted base image +FROM ros:kilted-ros-base + +# Install ROS 2 communication tools +RUN apt update && apt install -y \ + ros-kilted-std-msgs \ + ros-kilted-rosbridge-server \ + ros-kilted-rosapi \ + python3-pip \ + && rm -rf /var/lib/apt/lists/* + +# Set working directory +WORKDIR /opt/app + +# Copy entrypoint script +COPY entrypoint.sh /opt/app/entrypoint.sh +RUN chmod +x /opt/app/entrypoint.sh + +# Expose rosbridge WebSocket port +EXPOSE 9090 + +# Launch rosbridge on container start +ENTRYPOINT ["/opt/app/entrypoint.sh"] +#CMD ["bash"] diff --git a/ros_docker/entrypoint.sh b/ros_docker/entrypoint.sh new file mode 100755 index 0000000..867f30a --- /dev/null +++ b/ros_docker/entrypoint.sh @@ -0,0 +1,11 @@ +#!/bin/bash +set -e + +source /opt/ros/kilted/setup.bash + +echo "🧠 Starting rosbridge..." +#ros2 launch rosbridge_server rosbridge_websocket_launch.xml + +# If ros2 launch fails, keep container alive for debugging +echo "❌ ros2 launch failed or exited" +sleep infinity diff --git a/ros_docker/index.html b/ros_docker/index.html new file mode 100644 index 0000000..3481375 --- /dev/null +++ b/ros_docker/index.html @@ -0,0 +1,25 @@ + + + + + + + + \ No newline at end of file diff --git a/ros_docker/rebuild.sh b/ros_docker/rebuild.sh new file mode 100755 index 0000000..1a1d7cf --- /dev/null +++ b/ros_docker/rebuild.sh @@ -0,0 +1,26 @@ +#!/bin/bash + +set -e # Exit on error + +IMAGE_NAME="ros_docker" +CONTAINER_NAME="ros_docker_live" + +echo "🔄 Killing and removing old container..." +docker rm -f $CONTAINER_NAME || true + +echo "🔧 Rebuilding Docker image..." +#docker build --no-cache -t $IMAGE_NAME . +docker build -t $IMAGE_NAME . + +echo "🚀 Starting container..." +docker run -it -d \ + --net=host \ + --privileged \ + -v /dev:/dev \ + -v /sys:/sys \ + -v /usr/lib/librknnrt.so:/usr/lib/librknnrt.so \ + --name $CONTAINER_NAME \ + $IMAGE_NAME + +echo "🧠 Attaching to container shell..." +docker exec -it $CONTAINER_NAME bash diff --git a/src/vision_opencv b/src/vision_opencv deleted file mode 160000 index e6b1511..0000000 --- a/src/vision_opencv +++ /dev/null @@ -1 +0,0 @@ -Subproject commit e6b1511e89c119e60f6563e4462c6a598f61872a