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Jetbot Voice-Activated Copilot Tools Setup

  1. Configure Docker Engine: Follow these setup steps to configure your Docker engine.

  2. Set Up ROS Development Environment: Set up your ROS development environment by following the instructions here.

  3. Clone the Repository: Open your terminal and run the following command to clone the repository:

    git clone https://github.com/Jen-Hung-Ho/ros2_jetbot_voice

  4. Navigate to the Repository Directory: Change to the directory of the cloned repository:

    cd ros2_jetbot_voice

  5. Build the Docker Image: Ensure the build.sh script has execute permissions. If not, add execute permissions using:

    chmod +x build.sh

    Then, run the build.sh script to build the Docker image:

    ./build.sh

  6. Start Docker and Build the CNN Model: Execute the following commands to run and build the CNN model (this only needs to be done once) The model data will be saved under /data/models/ASR_classify_model for the voice-activated tool to load and extract in the ROS2 node launch:

    . run.sh
cd ..
cd app
python3 robot_command_text_classification.py  # build CNN model
python3 robot_command_model_evaluation.py     # run unit test

  7. Start Docker: Execute the following commands to run the docker

    . run.sh

  8. Attach to an Existing Running Docker Container: To attach to an existing running Docker container, use the following commands:

    docker ps

    Identify the CONTAINER ID of the running container (e.g., 422fc05b7655), then run:

    . start_ros2_shell.sh <CONTAINER_ID>

    For example:

    . start_ros2_shell.sh 422fc05b7655