I would like to present, for whom is interested, LISA a very first prototype platform for enabling the acoustic channel in collaboration with a collaborative robot. I have to admit that I am not super satisfied by the architecture. Let me say, there is a (lot of) room for optimization and rationalization. But considering it is a proof of concept it showed some clear advantage.
The two main features added to a rhasspy system are
- Beamforming via ODAS
- ROS interface
At the page LISA in github you can find more details about the project. I think it can be used as help to setup a platform on a raspberry, plus other details explaining how certain RH nodes work.
Any comment or suggestion is very well accepted and encouraged