Add STT service

STT_srv.py

@@ -0,0 +1,43 @@
+import os
+
+from roboy_cognition_msgs.msg import RecognizedSpeech
+from roboy_cognition_msgs.srv import RecognizeSpeech
+
+from asr_interface import IAsr
+import rclpy
+from rclpy.node import Node
+
+
+class SonoscoROS2(Node):
+    def __init__(self):
+        super().__init__('stt')
+        self.publisher = self.create_publisher(RecognizedSpeech, '/roboy/cognition/speech/recognition')
+        self.srv = self.create_service(RecognizeSpeech, '/roboy/cognition/speech/recognition/recognize', self.asr_callback)
+        print("Ready to /roboy/cognition/speech/recognition/recognize")
+        print(f"Roboy Sonosco running with PID: {os.getpid()}")
+        self.i=IAsr()
+        print(f"Status: Speech recognition is ready now!")
+        print("Roboy Sonosco is ready!")
+
+    def asr_callback(self, request, response):
+        response.success = True
+        self.get_logger().info('Incoming Audio')
+        msg = RecognizedSpeech()
+        self.i.inference_audio(request)
+        self.publisher.publish(msg)
+        return response
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    stt = SonoscoROS2()
+
+    while rclpy.ok():
+        rclpy.spin_once(stt)
+
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()