LLM usecase support

[gitpqLee]

We need a LLM feature integrated into this project:

• Input: A ROS String Topic （see topic template） containing an instruction to AMR or manipulator arm.
• Output: A ROS topic (template)containing a navigation goal for mobile robot or a grasp pose for manipulator arm.

This repo should be added new code and logic to fulfill this Input->Inference->Output process: 1) Subscribe ROS topic of related audio common message. 2) Adopt LLM agent for the inference body. 3) Publish the corresponding topic(s).

See below picture as the pipeline: TTS model supported by openvino can refer to: text_to_speech_demo.py LLM like Llama support can leverage OpenVINO-GenAI, please refer to OpenVINO™ GenAI Library

Development Scope:

• Wrap the audio to ROS topic.
• Use TTS model convert audio to text [optional]
• Subscribe a ROS string topic and convert to input type of LLM agent.
• Prompt Intelligent agent to adapt usage (like navigation)
• Wrap the decode results to ROS topic, like PoseStamped.

You have the freedom to choose the intelligent agent.