rename node

examples/ros2/README.md

@@ -0,0 +1,18 @@
+# WhisperTRT - ROS2 Node
+
+This example includes a ROS2 node for interfacing with WhisperTRT.
+
+It includes the full pipeline, including connecting to a microphone, and outputs recognized speech
+segments on the ``/speech`` topic.
+
+| Name | Description | Default |
+|------|-------------|---------|
+| model | The Whisper model to use. | "small.en" |
+| backend | The Whisper backend to use. | "whisper_trt" |
+| cache_dir | Directory to cache the built models. | None |
+| vad_window | Number of audio chunks to use in max-filter window for voice activity detection. | 5 |
+| mic_device_index | The microphone device index. | None |
+| mic_sample_rate | The microphone sample rate. | 16000 |
+| mic_channels | The microphone number of channels. | 6 |
+| mic_bitwidth | The microphone bitwidth. | 2 |
+| speech_topic | The topic to publish speech segments to. | "/speech" |

examples/ros2/asr_node.py → examples/ros2/whisper_trt_node.py

@@ -24,12 +24,12 @@
 from rclpy.node import Node
 from std_msgs.msg import String
 from rcl_interfaces.msg import ParameterDescriptor
-from asr_pipeline import ASRPipeline
+from whisper_trt_pipeline import WhisperTRTPipeline
 
 
-class AsrNode(Node):
+class WhisperTRTNode(Node):
     def __init__(self):
-        super().__init__('AsrNode')
+        super().__init__('WhisperTRTNode')
 
         self.declare_parameter("model", "small.en")
         self.declare_parameter("backend", "whisper_trt") 
@@ -66,7 +66,7 @@ def handle_asr(text):
             self.speech_publisher.publish(msg)
             logger.info("published " + text)
 
-        self.pipeline = ASRPipeline(
+        self.pipeline = WhisperTRTPipeline(
             model=self.get_parameter("model").value,
             vad_window=self.get_parameter("vad_window").value,
             backend=self.get_parameter("backend").value,
@@ -87,7 +87,7 @@ def start_asr_pipeline(self):
 
 def main(args=None):
     rclpy.init(args=args)
-    node = AsrNode()
+    node = WhisperTRTNode()
 
     node.start_asr_pipeline()
 

examples/ros2/asr_pipeline.py → examples/ros2/whisper_trt_pipeline.py

@@ -301,7 +301,7 @@ def transcribe(self, audio):
                 self.asr_callback(text)
 
 
-class ASRPipeline:
+class WhisperTRTPipeline:
 
     def __init__(self,
             model: str = "small.en",
@@ -389,7 +389,7 @@ def handle_vad_end():
     def handle_asr(text):
         print("asr done: " + text)
 
-    pipeline = ASRPipeline(
+    pipeline = WhisperTRTPipeline(
         model=args.model,
         backend=args.backend,
         cache_dir=args.cache_dir,