Merge branch 'humble-devel' of https://github.com/CoreSenseEU/CoreSense4Home into humble-devel

Author: juandpenan

bt_nodes/hri/src/hri/dialog/Query.cpp

@@ -96,14 +96,37 @@ BT::NodeStatus Query::on_success()
     return BT::NodeStatus::FAILURE;
   }
 
-  json response = json::parse(result_.result->response.text);
-  std::string value_ = response["intention"];
-  fprintf(stderr, "%s\n", value_.c_str());
+  json response;
+  try{
+    response = json::parse(result_.result->response.text);
+  }
+  catch (json::parse_error& e) {
+    RCLCPP_ERROR(node_->get_logger(), "Failed to parse JSON response: %s", e.what());
+    return BT::NodeStatus::FAILURE;
+  }
 
+  auto get_string_field = [&](const std::string & key) -> std::string {
+    auto it = response.find(key);
+    if (it == response.end() || it->is_null() || !it->is_string()) {
+      return "";
+    }
+    return it->get<std::string>();
+  };
+
+  std::string value_ = get_string_field("intention");
   if (value_.empty()) {
-    return BT::NodeStatus::FAILURE;
+    value_ = get_string_field(intention_);
+  }
+
+  if (value_.empty()) {
+    value_= get_string_field("value");
+  }
+
+  if(value_.empty()) {
+    value_ = "unknown";
   }
 
+  RCLCPP_INFO(node_->get_logger(), "Extracted intention: %s", value_.c_str());
   setOutput("intention_value", value_);
 
   return BT::NodeStatus::SUCCESS;

robocup_bringup/launch/dialog.launch.py

@@ -39,8 +39,12 @@ def generate_launch_description():
         description='Hugging Face model repo')
 
     declare_model_filename_cmd = DeclareLaunchArgument(
-        'model_filename', default_value='ggml-large-v3-q5_0.bin',
+        'model_filename', default_value='ggml-small.en.bin',
         description='Hugging Face model filename')
+    
+    declare_min_silence_ms_cmd = DeclareLaunchArgument(
+        'min_silence_ms', default_value='500',
+        description='Minimum silence duration in milliseconds for segmenting audio') 
 
     # Actions
     llama_cmd = create_llama_launch(
@@ -121,6 +125,7 @@ def generate_launch_description():
     ld = LaunchDescription()
     ld.add_action(declare_model_repo_cmd)
     ld.add_action(declare_model_filename_cmd)
+    ld.add_action(declare_min_silence_ms_cmd)
     ld.add_action(whisper_cmd)
     ld.add_action(llava_cmd)
     ld.add_action(audio_common_tts_node)