https://github.com/skylark0924/rofunc-ros

A Ros Package for Human-centered Interactive Intelligent Humanoid Robots
https://github.com/skylark0924/rofunc-ros

chatbot chatgpt chatgpt-api intelligent-robotics interactive-robot-learning ros-noetic speech-to-text text-to-speech

Last synced: 26 days ago
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A Ros Package for Human-centered Interactive Intelligent Humanoid Robots

• Host: GitHub
• URL: https://github.com/skylark0924/rofunc-ros
• Owner: Skylark0924
• License: mit
• Created: 2023-03-08T11:54:23.000Z (almost 2 years ago)
• Default Branch: main
• Last Pushed: 2023-04-20T11:23:36.000Z (over 1 year ago)
• Last Synced: 2023-10-24T11:33:52.908Z (about 1 year ago)
• Topics: chatbot, chatgpt, chatgpt-api, intelligent-robotics, interactive-robot-learning, ros-noetic, speech-to-text, text-to-speech
• Language: Python
• Homepage:
• Size: 51.7 MB
• Stars: 16
• Watchers: 2
• Forks: 8
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.md

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README

        

![](img/logo14.png)

# Rofunc-ros: A Ros Package for Human-centered Intelligent Interactive Humanoid Robots

- [Rofunc-ros: A Ros Package for Human-centered Intelligent Interactive Humanoid Robots](#rofunc-ros-a-ros-package-for-human-centered-intelligent-interactive-humanoid-robots)

  - [Installation](#installation)

    - [System requirements](#system-requirements)

    - [Installation](#installation-1)

  - [Functions](#functions)

    - [Voice Q\&A](#voice-qa)

    - [OptiLocation](#optilocation)

  - [Cite](#cite)

  - [The Team](#the-team)

  - [Related repository: Rofunc](#related-repository-rofunc)

  - [Acknowledge](#acknowledge)

## Installation

### System requirements

The package is only tested by the following configuration.

1. Ubuntu 20.04

2. Ros Neotic

### Installation

**Please refer to the [installation manual](docs/Installation.md).**

## Functions

### Voice Q&A

For this function, we implemented a Voice Q&A robot based on `ChatGPT`. This function consists of `Speech2text`, `Chat` and `Text2speech`. 

![](img/voiceQA_pipeline.png)

This whole pipeline can be activated by calling

**English**

```

roslaunch rofunc_ros voice_qa_en.launch

```

**Chinese**

```

roslaunch rofunc_ros voice_qa_cn.launch

```

### OptiLocation

```

roslaunch rofunc_ros mocap.launch & rosrun rviz rviz

```

## Cite

If you use rofunc-ros in a scientific publication, we would appreciate citations to the following paper:

```

@misc{Rofunc2022,

      author = {Liu, Junjia and Li, Zhihao and Li, Chenzui and Chen, Fei},

      title = {Rofunc: The full process python package for robot learning from demonstration},

      year = {2022},

      publisher = {GitHub},

      journal = {GitHub repository},

      howpublished = {\url{https://github.com/Skylark0924/Rofunc}},

}

```

## The Team

Rofunc-ros is developed and maintained by the [CLOVER Lab (Collaborative and Versatile Robots Laboratory)](https://feichenlab.com/), CUHK.

## Related repository: Rofunc

We also have a python package robot learning from demonstration and robot manipulation (**Rofunc**). 

> **Repository address: https://github.com/Skylark0924/Rofunc**

[![Release](https://img.shields.io/github/v/release/Skylark0924/Rofunc)](https://pypi.org/project/rofunc/)

![License](https://img.shields.io/github/license/Skylark0924/Rofunc?color=blue)

![](https://img.shields.io/github/downloads/skylark0924/Rofunc/total)

[![](https://img.shields.io/github/issues-closed-raw/Skylark0924/Rofunc?color=brightgreen)](https://github.com/Skylark0924/Rofunc/issues?q=is%3Aissue+is%3Aclosed)

[![](https://img.shields.io/github/issues-raw/Skylark0924/Rofunc?color=orange)](https://github.com/Skylark0924/Rofunc/issues?q=is%3Aopen+is%3Aissue)

[![Documentation Status](https://readthedocs.org/projects/rofunc/badge/?version=latest)](https://rofunc.readthedocs.io/en/latest/?badge=latest)

[![Build Status](https://img.shields.io/endpoint.svg?url=https%3A%2F%2Factions-badge.atrox.dev%2FSkylark0924%2FRofunc%2Fbadge%3Fref%3Dmain&style=flat)](https://actions-badge.atrox.dev/Skylark0924/Rofunc/goto?ref=main)

![](img/pipeline.png)

## Acknowledge

We would like to acknowledge the following projects:

1. [wpr_chatgpt](https://github.com/play-with-chatgpt/wpr_chatgpt/)

2. [ros-vosk](https://github.com/alphacep/ros-vosk)

3. [tts-ros1](https://github.com/aws-robotics/tts-ros1)