ROS2 Chat

A wrapper ROS2 node for ros_llm, ros_stt and ros_tts to simplify the chat pipeline.

The chat node in this solution includes a /chat ROS2 service that accepts audio data and returns a generated audio response with extra metadata.

This documentation provides all the information you need to get started with ros_chat, from setting up your environment to using the service and contributing to the project.

---
config:
    theme: redux
    look: neo
---
flowchart TB
    subgraph s1["Server"]
        direction TB
        n11["Chat Node"]

        subgraph s11["Whisper STT"]
            direction TB
            n112["STT Node"] <-- HTTP --> n111["whisper.cpp"]
        end

        subgraph s12["Gemma 3 12b"]
                direction TB
                n122["LLM Node"] <-- HTTP --> n121["llama.cpp"]
            end

        subgraph s13["Orpheus TTS"]
            direction TB
            n132["TTS Node"] <-- HTTP --> n131["llama-swap"]
        end

        n11 -- ROS2 --> n112
        n11 -- ROS2 --> n122
        n11 -- ROS2 --> n132
    end
    subgraph s21["Robot"]
        direction TB
        n21["UI Com"] <-- WebSocket --> n22["Emotion"]
    end
    n11 <-- "ROS2" --> n21

Requirements

• Docker
• Visual Studio Code
• Dev Container Extension

Contributing

We welcome contributions to this project! Please see the contributing guidelines at contributing.md in the root of this repository for more information on how to get started.