feat: implement voice only bringup launchfile

src/rai_bringup/launch/voice.launch.py

@@ -0,0 +1,81 @@
+# Copyright (C) 2024 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    OpaqueFunction,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.substitutions import FindPackageShare
+
+
+def include_tts_launch(context, *args, **kwargs):
+    tts_vendor = LaunchConfiguration("tts_vendor").perform(context)
+    if tts_vendor == "opentts":
+        launch_file = "opentts.launch.py"
+    else:
+        launch_file = "elevenlabs.launch.py"
+
+    return [
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                [FindPackageShare("rai_tts"), f"/launch/{launch_file}"]
+            )
+        )
+    ]
+
+
+def include_asr_launch(context, *args, **kwargs):
+    asr_vendor = LaunchConfiguration("asr_vendor").perform(context)
+    if asr_vendor == "openai":
+        launch_file = "openai.launch.py"
+    else:
+        launch_file = "local.launch.py"
+
+    return [
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                [FindPackageShare("rai_asr"), f"/launch/{launch_file}"]
+            )
+        )
+    ]
+
+
+def generate_launch_description():
+    tts_vendor_arg = DeclareLaunchArgument(
+        "tts_vendor",
+        default_value="elevenlabs",
+        description="TTS vendor to use (opentts or elevenlabs)",
+    )
+    asr_vendor_arg = DeclareLaunchArgument(
+        "asr_vendor",
+        default_value="local",
+        description="ASR vendor to use (openai or whisper)",
+    )
+
+    tts_launch_inclusion = OpaqueFunction(function=include_tts_launch)
+    asr_launch_inclusion = OpaqueFunction(function=include_asr_launch)
+
+    return LaunchDescription(
+        [
+            tts_vendor_arg,
+            asr_vendor_arg,
+            tts_launch_inclusion,
+            asr_launch_inclusion,
+        ]
+    )