master

openeuler-ci-botfeat(navi): replace FunASR with local sherpa-onnx + add tests

1ddd0d33创建于 19 天前历史提交

文件	最后提交记录	最后更新时间
lekiwi.yaml	robot_config: integrate lekiwi mobile base Add a LeKiwi robot profile with control, teleop, recording, and navigation support so the mobile base can launch through the unified robot_config entrypoint. Wire Gazebo sensor bridges for the LeKiwi simulation path and extend robot_config builders to support the new mobile base. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>	1 个月前
lekiwi_navi.yaml	feat(navi): replace FunASR with local sherpa-onnx + add tests Voice control refactoring: - Add voice_control node bridging voice_asr_service (sherpa-onnx) to nav2_goal_client via keyword matching, replacing external FunASR WebSocket client that required a separate server deployment - Add hotword registration: voice_control auto-pushes keywords to voice_asr_node at startup via SetHotwords service (ibrobot_msgs) - Remove funasr_client_node, FunASR install/start scripts, and python3-websockets dependency - Clean up lekiwi_navi.yaml: replace stale funasr config with voice_asr section; update model path to relative path - Update voice_nav.py launch builder for voice_control node - Update README with new architecture and ROS interface docs lekiwi_hardware refactoring: - Extract lekiwi_conversions.hpp (header-only) with 6 pure conversion functions (ticks_to_radians, radians_to_ticks, steps_to_rad_s, rad_s_to_steps, decode_motor_register, encode_homing_offset) - Refactor lekiwi_system_hardware.cpp to use extracted functions, removing inline conversion logic - Add 55 gtest cases covering all conversion functions and round-trip consistency (test_lekiwi_conversions.cpp) Test coverage: - Add pytest tests for voice_control (40 cases: keyword matching, destination resolution, stop handling, hotword extraction, e2e) - Add pytest tests for cmd_vel_bridge (IK/FK, velocity scaling, quaternion, joint feedback, odometry integration) - Add pytest tests for nav2_goal_client (goal dispatch, cancellation, task description caching, timeout handling) Also fix asr_inference_module to correctly load encoder/decoder ONNX files for streaming paraformer model. Signed-off-by: yanhan <yanhan31@huawei.com>	19 天前
so101_dual_arm.yaml	docs: sync architecture and rename legacy control modes Update READMEs and architectural documentation to reflect the removal of 'rosetta' and 'robot_interface' packages. Sync 'teleop_act' to 'model_inference' across all configuration and documentation files. - Remove all 'rosetta' and 'robot_interface' mentions in READMEs. - Update 'docs/architecture.md' and 'docs/roadmap.md' to current status. - Rename 'teleop_act' mode to 'model_inference' in robot_config YAMLs. - Update launch builders to search in 'robot_config/config/contracts'. - Clean up 'tensormsg' docstrings and comments. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>	2 个月前
so101_single_arm.yaml	inference_service: support RKNN distributed runtime Support RKNN artifacts in the distributed inference flow so the board runtime can load .rknn models while keeping LeRobot checkpoint metadata for edge-side preprocessing and postprocessing. Align the live dispatcher defaults, board packaging, launch docs, and reliable controller command QoS with the measured RKNN deployment path. Defer optional backend imports so RKNN and CPU paths remain importable and testable without Ascend runtime packages installed. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>	24 天前
so101_single_arm_rgbd.yaml	feat(robot_config): add so101_rgbd config and fix realsense perception params	2 个月前
test_single_arm_single_cam.yaml	feat: Enhance MoveIt IK solver and add moveit_gateway node - Improve IK solver functionality for SO101 5DOF mechanical arm - Add moveit_gateway node for pose control with enhanced IK strategies - Update configuration files: joint_limits.yaml and kinematics.yaml - Add comprehensive documentation for moveit_gateway node - Update launch file and CMake configuration for new functionality - Update package.xml with required dependencies	2 个月前