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8.AI large model online 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/HemiHex.yaml

  1. 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 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.

  1. Save the file and recompile the project to apply the changes: xxxxxxxxxx cd ~/hemihex_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 runlargemodel_control.launch.pyat system startup.

2.1 Create a Startup Script​

To ensuresystemdcan correctly load the ROS2 environment, it's best to create a simplebashscript to encapsulate our startup commands.

  1. Create a Script File : In the directory ( ~/hemihex_ws/src/largemodel/ ), create a file named start_largemodel.sh . xxxxxxxxxx vim ~/hemihex_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 HemiHex Workspace environment source /home/jetson/hemihex_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 ~/hemihex_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.
sudo vim /etc/systemd/system/largemodel.service
  1. 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/hemihex_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.
  2. Save and exit .

2.3 Managing and Debugging Services​

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

  1. Reload the systemd daemon so it reads our newly created service file:
sudo systemctl daemon-reload
  1. Set the service to start automatically at boot :
sudo systemctl enable largemodel.service
  1. Start the service immediately :
sudo systemctl start largemodel.service
  1. Check the service status : This is the most important command to verify that the service is running successfully.
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.
  1. 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.
journalctl -u largemodel.service -f

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