This week the Raspberry Pi and Ros 2 system were first configured and set up correctly, then I also participated in integrating our system pipeline together. Right now, there are 3 stages in total, the first stage is voice trigger, the second stage is the hand gesture detection, and the third stage is the motor control. I also worked on connecting the voice recognition module into the ROS 2 system. I wrote the SpeechControlNode that polls the ASR module via ROS timer. Upon detecting a certain command, the node launches the gesture detection pipeline as a subprocess. Also, the I2C address conflict between the ASR module and the motor controller (both at 0x34) is addressed by routing the ASR module to a secondary I2C bus (i2c-3) using a GPIO software overlay.
For this week, the progress aligns with our current schedule. In the next step, we will need to work on locating the user with the camera, and let the robot be able to reach the user based on the position.