10. AI Large Model Offline Voice Assistant

1. Offline Voice Configuration

Before setting up auto-start, we must ensure the program can work independently offline. 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 their values ​​match those shown below. If the parameters are missing, please 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 unit: ms
    use_oline_asr: False                #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: 'en'                      #asr language
​
model_service:                          #Model server node parameters
  ros__parameters:
    language: 'en'                      #Large Model Interface Language
    useolinetts: False                  #Whether to use online speech synthesis (True for online, False for offline)
​
     # Large Model Configuration
    # llm_platform: 'ollama'              # Optional platforms: 'ollama', 'tongyi', 'spark''qianfan', 'openrouter'
    llm_platform: 'ollama'              # Current large model platform

After completing this step, the program is now a purely offline voice service.

2. Create a startup service (Systemd)

Now, we will create a systemd service so that largemodel_control.launch.py runs automatically at system startup.

2.1 Creating a Startup Script

To ensure systemd correctly loads the ROS2 environment, the best practice is to create a simple bash script to encapsulate our startup command.

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 the 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/sunrise/yahboom_ws/install/setup.bash
​
# Start the largemodel control script
ros2 launch largemodel largemodel_control.launch.py

Important Note: Please ensue that /home/sunrise/ in the script is replaced with your own user's home directory path.

3. Save and Exit
4. Grant Script Execution Permissions:

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

2.2 Creating a Systemd Service File

This is the most crucial step. We will tell the system that we have a new service that needs to be managed.

1. Create the service file:

You need sudo privileges to create this file.

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

2. Write the 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 

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

3. Save and exit.

2.3 Managing and Debugging the Service

Now that your service has been created, we need to get systemd to load it and set it to start automatically on boot.

1. Reload the systemd daemon so that it reads the service file we just created:

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sudo systemctl daemon-reload

2. Set the service to start automatically on 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 the 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, please continue to the next step for debugging.

5. View service logs (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 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 now start automatically every time you boot up.