Orion Chat 🤖💬

🚀 Overview

Orion Chat is a ROS 2 Jazzy package that orchestrates speech‑to‑text (STT), chat engine, and text‑to‑speech (TTS) nodes using a single launch file. It runs on Ubuntu 24.04 with support for Ignition Harmonic simulation, integrating Whisper for STT, OLLAMA for language processing, and edge-TTS for TTS, enabling seamless human–robot interaction.

orionChatDemo.mp4

⚙️ Prerequisites

• OS: Ubuntu 24.04 LTS
• ROS 2: Jazzy Jalisco (ros-jazzy-desktop)
• Ignition Gazebo: Ignition Harmonic
• Tools: colcon, rosdep

🛠️ Installation

# Clone and prepare the workspace
mkdir -p ros2_ws/src && mv * ros2_ws/src  
git clone https://github.com/Tesis-ORION/orion_chat.git  
cd ros2_ws

# Install dependencies
rosdep update  
rosdep install --from-paths src --ignore-src -r -y  
cd orion_chat
./install_apt.sh
pip install -r requirements.txt --break-system-packages

# Build and source environment
colcon build --packages-select orion_chat  
source install/setup.bash

📂 Workspace Structure

ros2_ws/
└── src/
    ├── orion_chat/            # Main package
    │   ├── launch/
    │   │   └── orion_launch.py  # Single launch for STT, Chat, TTS
    │   ├── orion_chat/         # Chat logic & prompt loader
    │   ├── stt_node.py         # STT node (Whisper)
    │   ├── tts_node.py         # TTS node (edge-TTS + pygame)
    │   ├── resource/           # JSON prompts and user data
    │   └── sounds/             # Activation audio (MP3)
    ├── install/                # colcon install output
    ├── build/                  # colcon build output
    └── log/                    # Build logs

💬 Nodes

🎙️ Speech‑to‑Text (STT)

• Executable: orion_stt
• Description: Uses OpenAI Whisper to transcribe microphone audio into text.

🤖 Chat Engine

• Executable: orion_chat
• Description: Processes text with an LLM via the OLLAMA API using resource/orion_prompt.json.

🗣️ Text‑to‑Speech (TTS)

• Executable: orion_tts
• Description: Converts text responses into speech using edge-TTS and plays back via pygame.

🔧 Usage

🔄 Launch STT, chat engine, and TTS modules only

# in a separated terminal
ros2 run orion_chat audio_recorder
# in a separated terminal
ros2 launch orion_chat orion_launch.py

🔄 Launch STT, chat engine, and TTS modules with web interface (requires orion_web_interface package)

ros2 launch orion_chat orion_launch.py

Launch default simulation

ros2 launch orion_chat orion_gz_launch_def.py

Launch with ORION simulation (requires orion_gz package)

ros2 launch orion_chat orion_gz_launch.py

📘 Configuration

• resource/conversation_config.json – Prompt template
• resource/movement_config.json – Movement RAG settings

🤝 Contributing

1. Fork the repository
2. Create a branch (feature/...)
3. Commit your changes and add tests
4. Open a Pull Request against main

📜 License

MIT License – Permissive and ensures attribution. See LICENSE.