10.AI large model offline voice assistant

1. Offline Voice Configuration

Note: Due to performance limitations, this example cannot be run on the Jetson Orin Nano 4GB. To experience this feature, please refer to the corresponding section in <Online Large Model (Voice Interaction)>

Before setting up automatic startup, we must ensure that the program itself can operate independently in an offline state. This requires 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.

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   asr:                                    #Voice node parameters
     ros__parameters:
       VAD_MODE: 2                         #VAD sensitivity
       sample_rate: 16000                  #ASR audio sampling rate
       frame_duration_ms:  30              #VAD frame size in milliseconds
       use_oline_asr: False                #Whether to use online ASR recognition (True for online, False for offline)
       mic_serial_port: "/dev/ttyUSB0"     #Microphone serial port alias
       mic_index: 0                        #Microphone index
       language: 'en'                      #ASR language
       regional_setting : "international"  #international：International Edition  China：China internal version
   ​
   model_service:                          #Model server node parameters
     ros__parameters:
       language: 'en'                      #Large Model Interface Language
       useolinetts: False                   #Whether to use online speech synthesis (True to use online, False to use offline)
   ​
        # Large model configuration
       # llm_platform: 'ollama'              # Optional platforms: 'ollama', 'tongyi', 'spark', 'qianfan', 'openrouter'
       llm_platform: 'ollama'              # Currently selected large model platform
       regional_setting : "international" 
   ​
   

   • use_oline_asr and useolinetts must be set to False.
   • llm_platform must be set to ollama.

   This setting will make everything offline.

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

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

After completing this step, the program is already a purely offline 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 properly load the ROS2 environment, it's best to create a simple bash script to encapsulate our startup commands.

1. Create the script file:

   In the directory (~/yahboom_ws/src/largemodel/), create a file named start_largemodel.sh.

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

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

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   #!/bin/bash
   ​
   # Source ROS2 Humble environment
   source /opt/ros/humble/setup.bash
   ​
   # SOurce Yahboom workspace environment
   source /home/jetson/yahboom_ws/install/setup.bash
   ​
   #Start the largemodel control script
   ros2 launch largemodel largemodel_control.launch.py
   

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

3. Save and exit

4. Give the script execution permissions:

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

2.2Creating the Systemd Service File

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

1. Create service file: You will need sudo privileges to create this file.

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

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

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   [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
   

   • The path in ExecStart is exactly the same as the path to the startup script to be executed.

3. Save and exit.

2.3 Managing and Debugging Services

Now that your service has been created, we need to have systemd load it and configure it to start automatically at boot.

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

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   sudo systemctl daemon-reload
   

2. Set the service to start automatically at boot:

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   sudo systemctl enable largemodel.service
   

3. Start the service immediately:

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   sudo systemctl start largemodel.service
   

4. Check service status: This is the most important command to verify that the service is running successfully.

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   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 service log (required for debugging): If the service fails to start, you can use the following command to view all real-time logs generated by the ros2 launch command, which is crucial for locating the problem.

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   journalctl -u largemodel.service -f
   

After completing all the above steps, the purely offline largemodel voice service will be automatically started every time you turn on your phone.