AI large model online voice assistant

Note: Since Jetson Nano is in Docker, the following method is only a guide and cannot be implemented directly

1. Online Voice Configuration

Before setting up auto-start, we must ensure that the program itself can work independently in an online state. This can be done 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.

   ​x
   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: True # 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
   ​
   model_service: # Model server node parameters
   ros__parameters:
   language: 'en' # Large model interface language
   useolinetts: True # Whether to use online speech synthesis (True for online, False for offline)
   ​
   # Large model configuration
   #llm_platform: 'ollama' # Available platforms: 'ollama', 'tongyi', 'spark', 'qianfan', 'openrouter'
   llm_platform: 'tongyi' # This example uses Tongyi as an example
   

   • use_oline_asr and useolinetts must be set to tongyi.

   • llm_platform must be set to tongyi.

     If you set it up like this, everything will be online.

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 online voice service.

2. Creating a startup service (Systemd)

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

2.1 Create a startup script

In order for systemd to correctly load the ROS2 environment, the best practice is to create a simple bash script to encapsulate our startup command.

1. Create 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/jetson/ 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 a Systemd Service File

This is the most important step. We will 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.

   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/jetson/yahboom_ws/src/largemodel/start_largemodel.sh
   Restart=on-failure
   StandardOutput=journal
   StandardError=journal
   ​
   [Install]
   WantedBy=multi-user.target
   

   !!! Extremely important!!!

   • Please make sure that the paths in WorkingDirectory and ExecStart are exactly the same as your actual paths.

3. Save and exit.

2.3Management and debugging services

Now that your service is created, we need to have systemd load it and set it to start automatically on 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 another error, 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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