Voice Assisted TurtleBot3

📌 Overview

Voice Assisted TurtleBot3 is a ROS2-based project that enables controlling a TurtleBot3 in Gazebo simulation using voice commands. The robot responds to spoken commands for movement and energy management, making it a unique interactive experience.

🚀 Features

• 🎙️ Voice-Controlled Navigation: Move the robot using voice commands like "forward", "left", "right".
• 🔋 Energy Management System: The robot consumes energy while moving and can replenish energy using specific voice triggers like "heal" or "kaboom".
• 📡 Real-time ROS2 Communication: Uses rclpy to process commands and send movement instructions to /cmd_vel.
• 🐳 Dockerized Deployment: The entire project can be built and run inside a Docker container.

📁 Repository Structure

📂 voice_assist_bot
 ├── 📂 src/                     # ROS2 package source code
 ├── 📄 Dockerfile               # Dockerfile for containerization
 ├── 📄 requirements.txt         # Python dependencies
 ├── 📄 README.md                # Project documentation
 ├── 📄 setup.py                 # ROS2 package setup

🔧 Installation

1️⃣ Clone the repository

git clone https://github.com/YOUR_USERNAME/voice_assist_bot.git
cd voice_assist_bot

2️⃣ Build the ROS2 Package

colcon build
source install/setup.bash

🐳 Running with Docker

Dockerhub : https://hub.docker.com/repository/docker/wakifrajin/voice_assist_bot

1️⃣ Pull the Docker Image

docker pull wakifrajin/voice_assist_bot

2️⃣ Run the Container

docker run --device /dev/snd:/dev/snd -it wakifrajin/voice_assist_bot

🤓 Use the package

1. Source the package

   cd ~/ros2_2025
   source install/setup.bash

   or, if you use .zsh

   cd ~/ros2_2025
   source install/setup.zsh

2. Startup gazebo turtlebot3

   export TURTLEBOT3_MODEL=burger  # or waffle
   ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

3. Run the launch file to run speaker and control nodes

   ros2 launch voice_assist_bot voice_assist_launch.py

🎤 Voice Commands

Command	Action
"forward"	Moves forward for 2 seconds
"forward 5s"	Moves forward for 5 seconds
"left"	Rotates left
"right"	Rotates right
"heal" / "kaboom"	Increases energy

🤝 Contributing

Pull requests are welcome! Feel free to open an issue if you have any questions or suggestions.

📜 License

This project is licensed under the MIT License. See LICENSE for details.