RAI includes multiple configurable ROS 2 packages.
| Package | Description | Documentation |
|---|---|---|
| rai_asr | Automatic Speech Recognition node utilizes a combination of voice activity detection (VAD) and a speech recognition model to transcribe spoken language into text using openai-whisper. | rai_asr |
| rai_open_set_vision | Package enabling use of GroundingDINO and GroundedSAM -- an open-set detection model with ROS 2. | rai_open_set_vision |
| rai_nomad | Package integrating NoMaD -- an exploration model with ROS2. | rai_nomad |
| rai_interfaces | Definition of custom messages and services used in RAI. | |
| rai_whoami | Configures and provides information about the robot identity. | rai_whoami |
| rai_bringup | Launch files to run RAI. |