Add device mappings for /dev/dri and /dev/snd

Install additional dependencies for image processing
Add ros2_whisper repository

docker-compose.yaml

@@ -68,6 +68,9 @@ services:
           - linux/amd64
     command: |
       /bin/bash
+    devices:
+      - /dev/dri:/dev/dri
+      - /dev/snd:/dev/snd
   # Robot State Publisher
   robot_state_publisher:
     extends: overlay
@@ -134,6 +137,17 @@ services:
     devices:
       - /dev/dri:/dev/dri
 
+  whisper:
+    extends: overlay
+    command: >
+      ros2 launch whisper_bringup bringup.launch.py n_thread:=20
+    #privileged: true
+    devices:
+      - /dev/dri:/dev/dri
+    #  - /dev/snd/controlC0:/dev/snd/controlC0 #/dev/snd:/dev/snd
+    privileged: true
+    restart: unless-stopped
+
   ###################################################################################################################################
   # Webgui Supervision via Foxglove Studio                                                                                          #
   ###################################################################################################################################

docker/Dockerfile

@@ -61,7 +61,7 @@ WORKDIR /overlay_ws
 
 RUN source /bot_mini_ws/install/setup.bash \
  && apt-get update \
- && apt-get install -y ros-${ROS_DISTRO}-image-transport ros-${ROS_DISTRO}-cv-bridge \
+ && apt-get install -y ros-${ROS_DISTRO}-image-transport ros-${ROS_DISTRO}-cv-bridge wget python3-pyaudio python3-pynput python3-pip \
  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
  && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo\
  && rm -rf /var/lib/apt/lists/*

overlay.repos

@@ -18,3 +18,8 @@ repositories:
         type: git
         url: https://github.com/bjoernellens1/cps_loki_bringup
         version: main
+
+    ros2_whisper:
+        type: git
+        url: https://github.com/ros-ai/ros2_whisper
+        version: main

pyaudiotest.py

@@ -0,0 +1,12 @@
+# pyaudio test bluetooth headset
+
+import pyaudio
+
+p = pyaudio.PyAudio()
+
+for i in range(p.get_device_count()):
+    if (p.get_device_info_by_host_api_device_index(0, i).get('maxInputChannels')) > 0:
+        print(p.get_device_info_by_index(i))
+
+p.terminate()
+