8.AI large model offline voice assistant

1. Online Voice Configuration

Before setting up automatic startup, we must ensure that the program itself can operate independently in an online state. This can be accomplished by modifying the configuration file.

1. Locate the Configuration File: In your project code, find and open the configuration file:

config/yahboom.yaml

2. Modify Configuration Parameters: Please check the following parameters in the file and ensure that their values ​​match those shown below. If the parameters do not exist, add them.

   xxxxxxxxxx
   asr:                                    #Voice node parameters
     ros__parameters:
       VAD_MODE: 2                         #vad sensitivity
       sample_rate: 16000                  #asr recording audio sampling rate
       frame_duration_ms:  30              #vad frame size in ms
       use_oline_asr: True                #Whether to use online ASR recognition (True uses online, False uses offline)
       mic_serial_port: "/dev/ttyUSB0"     #Microphone serial port alias
       mic_index: 0                        #Microphone Index
       language: 'zh'                      #asr language
   ​
   model_service:                          #Model server node parameters
     ros__parameters:
       language: 'zh'                      #Large Model Interface Language
       useolinetts: True                   #Whether to use online speech synthesis (True uses online, False uses offline)
   ​
        # Large model configuration
       # llm_platform: 'ollama'              # Optional platforms:'ollama', 'tongyi', 'spark', 'qianfan', 'openrouter'
       llm_platform: 'tongyi'              # Here we take Tongyi as an example
   ​
   

   • use_oline_asr and useolinetts must be set to tongyi.
   • llm_platform must be set to tongyi.

With this setup, everything is online.

3. Save the file and recompile the project to apply the changes:

   xxxxxxxxxx
   cd ~/yahboom_ws
   colcon build
   source install/setup.bash
   

After completing this step, the program is now a fully online voice service.

2. Create a Startup Service (Systemd)

Now, we will create a systemd service to automatically run largemodel_control.launch.py at system startup.

2.1 Create a Startup Script

To ensure systemd can correctly load the ROS2 environment, it's best to create a simple bash script to encapsulate our startup commands.

1. Create a Script File: In the directory (~/yahboom_ws/src/largemodel/), create a file named start_largemodel.sh.

   xxxxxxxxxx
   vim ~/yahboom_ws/src/largemodel/start_largemodel.sh
   

2. Write the script: Copy and paste the following content into the script file.

   xxxxxxxxxx
   #!/bin/bash
   ​
   # Source ROS2 Humble Environment
   source /opt/ros/humble/setup.bash
   ​
   # Source Yahboom Workspace environment
   source /home/jetson/yahboom_ws/install/setup.bash
   ​
   # 启动 largemodel Control Script
   ros2 launch largemodel largemodel_control.launch.py
   

   Important: Please make sure to replace /home/sunrise/ in the script with your own home directory path.

3. Save and exit

4. Give the script execute permissions:

   xxxxxxxxxx
   chmod +x ~/yahboom_ws/src/largemodel/start_largemodel.sh
   

2.2 Creating the Systemd Service File

This is the most crucial step. We'll tell the system that we have a new service to manage.

1. Creating the Service File: You will need sudo privileges to create this file.

xxxxxxxxxx
sudo vim /etc/systemd/system/largemodel.service

2. Write the Service Configuration: Copy and paste the following content exactly into the service file.

   xxxxxxxxxx
   [Unit]
   Description=Robot Service
   After=network.target sound.target graphical.target multi-user.target
   Wants=network.target sound.target graphical.target multi-user.target
   ​
   [Service]
   Type=simple
   User=sunrise
   Group=sunrise
   Environment=DISPLAY=:0
   Environment=XDG_RUNTIME_DIR=/run/user/1000
   Environment=PULSE_SERVER=unix:/run/user/1000/pulse/native
   SupplementaryGroups=audio video
   ExecStartPre=/bin/sleep 10
   ExecStart=/home/sunrise/yahboom_ws/src/largemodel/start_largemodel.sh
   Restart=on-failure
   StandardOutput=journal
   StandardError=journal
   ​
   [Install]
   WantedBy=multi-user.target
   

   !!! EXTREMELY IMPORTANT!

   • Make sure the paths in WorkingDirectory and ExecStart match your actual paths exactly.

3. Save and exit.

2.3 Managing and Debugging Services

Now that your service is created, we need to have systemd load it and set it to start automatically at boot.

1. Reload the systemd daemon so it reads our newly created service file:

xxxxxxxxxx
sudo systemctl daemon-reload

2. Set the service to start automatically at boot:

xxxxxxxxxx
sudo systemctl enable largemodel.service

3. Start the service immediately:

xxxxxxxxxx
sudo systemctl start largemodel.service

4. Check the service status:

This is the most important command to verify that the service is running successfully.

xxxxxxxxxx
sudo systemctl status largemodel.service
``` * If you see `Active: active (running)`, congratulations! The service has started successfully!
* If the status is `failed` or something else, proceed to the next step for debugging.

5. View the service log (essential for debugging):

   If the service fails to start, you can view all real-time logs generated by the ros2 launch command using the following command. This is crucial for troubleshooting.

xxxxxxxxxx
journalctl -u largemodel.service -f

After completing all the above steps, the fully online largemodel voice service will automatically start every time you boot your computer.