Gripper control through ros2 service

ros2 run gripper_control gripper_control 

True to close the gripper

ros2 service call /gripper_control std_srvs/srv/SetBool "{data: true}"

False to open the gripper

ros2 service call /gripper_control std_srvs/srv/SetBool "{data: false}"

ROS 2 whisper with OPEN AI API

This code only can be function while using the wheeltec mic To bring up the mic and record voice:

ros2 launch wheeltec_mic_ros2 mic_init.launch.py 

REMARKS: program will only strat to record voice after receive awake command of 'hello hello'

To start speech recongition through OPENAI API

ros2 run voice_recognition voice_recognition_node

result of speech recognition will be published as '/speech_recognition_transcript'