cmd_vel, from Keyboard to Voice

[camp .]

    Last night at the MockBOT SIG, Steve Nelson asked how they programmed "Command Velocity" (cmd_vel) to use specific keys in "teleop_twist_keyboard." I found it here:

teleop_twist_keyboard.py

https://github.com/ros2/teleop_twist_keyboard/blob/dashing/teleop_twist_keyboard.py 

    Where the keyboard characters are set with the "movebindings" (x, y, z, yaw).

   The long-term goal of this exercise is to get cmd_vel into "marvin_head." Marvin_head is a Raspberry Pi with Claude AI and the reSpeaker Lite. You basically ask it a question, and it gives you an answer via voice synthesis (whisper > claude > piper). I want to convert voice input into "cmd_vel" messages. Tell the robot to go forward, and it moves forward 0.5 meters; tell it to turn counterclockwise, and it turns 90°. Next, I would specify rooms in my RViz map (family room, bedroom, kitchen, etc) and say, "Hey Marvin! Go to the kitchen."

Thanks,

Camp