ROS 2 Whisper

ROS 2 inference for whisper.cpp.

Build

• Install pyaudio, see install instructions.
• Build this repository, do

  mkdir -p ros-ai/src && cd ros-ai/src && \
  git clone https://github.com/ros-ai/ros2_whisper.git && cd .. && \
  colcon build --symlink-install --cmake-args -DWHISPER_CUDA=On --no-warn-unused-cli

Demos

Run the inference action server (this will download models to $HOME/.cache/whisper.cpp):

ros2 launch whisper_bringup bringup.launch.py

Run a client node (activated on space bar press):

ros2 run whisper_demos whisper_on_key

Configure whisper parameters in whisper.yaml.

Available Actions

Action server under topic inference of type Inference.action.

Troubleshoot

• Encoder inference time: https://github.com/ggerganov/whisper.cpp/issues/10#issuecomment-1302462960