ROS2 Integration

EdgeVox includes an optional ROS2 bridge for robotics applications.

Overview

The ROS2 bridge publishes voice pipeline events as ROS2 topics and subscribes to incoming commands.

Enable

# Install rclpy in your environment
pip install rclpy

# Launch with ROS2
python -m edgevox tui --ros2

If rclpy is not available, the bridge falls back to a NullBridge (no-op).

Published Topics

Topic	Type	Description
/edgevox/transcription	String	User's speech text
/edgevox/response	String	Bot's full reply
/edgevox/state	String	Pipeline state (listening, transcribing, thinking, speaking)
/edgevox/audio_level	Float32	Microphone level (0.0 - 1.0)
/edgevox/metrics	String	JSON latency metrics

Subscribed Topics

Topic	Type	Description
/edgevox/tts_request	String	Text to synthesize and play
/edgevox/command	String	Slash command to execute

Example: Robot Integration

import rclpy
from std_msgs.msg import String

# Listen for transcriptions
def on_transcription(msg):
    print(f"User said: {msg.data}")

# Send TTS request
pub.publish(String(data="I am navigating to the kitchen"))

# Send command
cmd_pub.publish(String(data="/lang vi"))