quintus0505 / gpt_smach

QTrobot GPT-Smach

Implementing a simple speech-based chatbot with OpenAI and QTrobot

Relevant ROS package:

All rospackages are available in luxai-qtrobot, you can first clone both software and tutorials to your local device.

You should link or copy the following package to your src under catkin_ws and run the catkin_make

• headers
• motors_moveit
• qt_gspeech_app
• qtrobot_ikfast_left_arm_plugin
• qtrobot_ikfast_right_arm_plugin
• audio_common (in case something goes wrong with audio, can be found here)

Key Requirements

• qt_gspeech_app running for speech recognition, check setup insturctions here
• motors_moveit running for arm control, see more instruction here
• openai credentials for accessing OpenAI GPT models

Other useful documents

• Controlling QTrobot arms using MoveIt
• A complete guide to build a Conversational Social Robot with QTrobot and ChatGPT
• QTrobot Motion and Actuators
• QTrobot Audio processing and Microphone
• SMACH Tutorials

Note that you may also see qt_gspeech_interface for speech recognition. It could be another solution but is not tested.

Installation

Install the required python packages:

sudo pip3 install -r requirements.txt

Configuration

Add OpenAI key to gpt_bot.yaml file:

"OPENAI_KEY":""

To use OpenAI gpt-3.5-turbo model set engine: "chatgpt" or if you want to use text-davinci-003 set it to engine: "davinci3". Remember do not push you OPENAI_KEY to the repo.

Character configuration

There are 5 pre-configured characters for 'gpt-3.5-turbo' you can use (qtrobot, fisherman, astronaut, therapist and gollum). Simply change in the 'gpt_bot.yaml' character parameter on line 12 and have fun talking with them.

To use custom character prompt. Change the parameter 'use_prompt' to true and write your 'prompt' instead of the template that is in the 'gpt_bot.yaml'. QTrobot will then take your prompt to get reposnes from GPT.

Build

make a link (or copy) to gpt_smach in catkin workspace source directory and build it.

$ cd ~/catkin_ws/src
$ ln -s ~/robot/code/tutorials/examples/gpt_smach ./
$ cd ~/catkin_ws/
$ catkin_make

Launching QTrobot GPT Smach rosnode

Make sure you are connecting to QTrobot's Wi-Fi hot spot and have internet access

Launch the motors_moveit for control

$ roslaunch motors_moveit moveit_qtrobot.launch

Launch the visualization process

$ roslaunch gpt_smach visualize.launch

Launch the gpt_smach main process

$ roslaunch gpt_smach gpt_smach.launch