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Semantic Understand Instruction Following（Voice Version）

Before running the function, you need to close the App and large programs. For the closing method, refer to [4. Preparation] - [1. Manage APP control services].

1. Function Description

After the program runs, wake up the voice module and say a sequence of action commands. The large model will plan the action functions corresponding to the action commands and execute all commands in sequence.

2. Startup

After entering the Docker container, enter the following commands in the Docker terminal.

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ros2 launch largemodel largemodel_control.launch.py

After waking up the module, give voice commands. You can refer to the following example:

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Move the robotic arm up 3 centimeters, then move the robotic arm forward 3 centimeters, then turn on the red light, wait 3 seconds, then turn on the green light, and finally have the robotic arm perform a dance.

The large model will plan a series of action command functions. Corresponding to the above action commands are: "arm_move('up',3)", "arm_move('forward',3)", "light_on('red')", 'wait(3)', "light_on('green')", 'arm_dance()'. The robotic arm end will first move forward by 3 cm, then turn on the drive board's LED red light, wait three seconds, then turn on the drive board's LED green light, and finally the robotic arm will execute dance movements.

3. Core Code Analysis

You can refer to the content in 3. Core Code Analysis from tutorial [18. AI Model - Text Version] - [1. Semantic Understanding Instruction Following]. The voice version and text version have the same action functions, only the task command input method is different.