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kPatchkPatch
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Add launch files
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‎coffee_ws/src/coffee_voice_agent/launch/voice_agent_bridge.launch.py‎

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#!/usr/bin/env python3
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"""
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Launch file for Coffee Voice Agent - Bridge Only Mode
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This launch file runs only the ROS2 bridge node, assuming the LiveKit voice agent
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is already running separately (e.g., started manually or by another process).
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The bridge connects to the voice agent via WebSocket and provides ROS2 integration.
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Usage:
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ros2 launch coffee_voice_agent voice_agent_bridge.launch.py
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# With custom parameters:
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ros2 launch coffee_voice_agent voice_agent_bridge.launch.py \
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voice_agent_host:=192.168.1.100 \
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voice_agent_port:=8080
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"""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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"""Generate launch description for bridge-only mode"""
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# Declare launch arguments
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host_arg = DeclareLaunchArgument(
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'voice_agent_host',
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default_value='localhost',
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description='Host address of the voice agent WebSocket server'
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)
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port_arg = DeclareLaunchArgument(
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'voice_agent_port',
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default_value='8080',
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description='Port of the voice agent WebSocket server'
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)
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reconnect_interval_arg = DeclareLaunchArgument(
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'reconnect_interval',
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default_value='5.0',
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description='Reconnection interval in seconds'
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)
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# Create the bridge node
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bridge_node = Node(
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package='coffee_voice_agent',
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executable='voice_agent_bridge',
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name='voice_agent_bridge',
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output='screen',
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emulate_tty=True,
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parameters=[{
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'voice_agent_host': LaunchConfiguration('voice_agent_host'),
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'voice_agent_port': LaunchConfiguration('voice_agent_port'),
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'reconnect_interval': LaunchConfiguration('reconnect_interval'),
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}],
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respawn=True,
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respawn_delay=2.0
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)
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return LaunchDescription([
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host_arg,
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port_arg,
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reconnect_interval_arg,
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bridge_node,
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])

‎coffee_ws/src/coffee_voice_agent/launch/voice_agent_standalone.launch.py‎

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#!/usr/bin/env python3
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"""
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Launch file for Coffee Voice Agent - Standalone Mode
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This launch file runs only the LiveKit voice agent script in console mode.
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Console mode provides local CLI functionality with interactive controls.
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For console mode to work properly, run this in a proper terminal:
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ros2 launch coffee_voice_agent voice_agent_standalone.launch.py
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Usage:
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ros2 launch coffee_voice_agent voice_agent_standalone.launch.py
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ros2 launch coffee_voice_agent voice_agent_standalone.launch.py mode:=dev # Development mode
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ros2 launch coffee_voice_agent voice_agent_standalone.launch.py mode:=start # Production mode
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"""
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import os
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from launch import LaunchDescription
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from launch.actions import ExecuteProcess, DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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"""Generate launch description for standalone voice agent"""
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# Declare launch arguments
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mode_arg = DeclareLaunchArgument(
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'mode',
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default_value='console',
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description='Voice agent mode: console (interactive CLI), dev, or start (production)'
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)
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# Get package share directory
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package_share = FindPackageShare('coffee_voice_agent')
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# Path to the voice agent script
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script_path = os.path.join(package_share.find('coffee_voice_agent'), 'scripts', 'livekit_voice_agent.py')
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# Create the process to run the voice agent
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voice_agent_process = ExecuteProcess(
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cmd=[
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'python3',
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script_path,
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LaunchConfiguration('mode')
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],
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output='screen',
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name='livekit_voice_agent',
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emulate_tty=True,
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shell=False,
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respawn=False, # Don't auto-restart in console mode
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respawn_delay=2.0
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)
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return LaunchDescription([
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mode_arg,
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voice_agent_process,
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])

‎coffee_ws/src/coffee_voice_agent/launch/voice_agent_system.launch.py‎

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#!/usr/bin/env python3
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"""
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Launch file for Coffee Voice Agent - Complete System Mode
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This launch file runs both the LiveKit voice agent script and the ROS2 bridge node
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together for a complete production system. The voice agent runs in 'start' mode
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(production) and the bridge provides ROS2 integration.
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Usage:
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ros2 launch coffee_voice_agent voice_agent_system.launch.py
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# With custom parameters:
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ros2 launch coffee_voice_agent voice_agent_system.launch.py \
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voice_agent_mode:=dev \
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voice_agent_port:=8080 \
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bridge_reconnect_interval:=3.0
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"""
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import os
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from launch import LaunchDescription
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from launch.actions import ExecuteProcess, DeclareLaunchArgument, TimerAction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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"""Generate launch description for complete system"""
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# Declare launch arguments
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voice_agent_mode_arg = DeclareLaunchArgument(
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'voice_agent_mode',
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default_value='start',
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description='Voice agent mode: console, dev, or start (production)'
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)
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voice_agent_port_arg = DeclareLaunchArgument(
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'voice_agent_port',
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default_value='8080',
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description='WebSocket port for voice agent server'
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)
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bridge_reconnect_interval_arg = DeclareLaunchArgument(
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'bridge_reconnect_interval',
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default_value='5.0',
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description='Bridge reconnection interval in seconds'
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)
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voice_agent_host_arg = DeclareLaunchArgument(
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'voice_agent_host',
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default_value='localhost',
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description='Host address of the voice agent (for bridge connection)'
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)
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# Get package share directory
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package_share = FindPackageShare('coffee_voice_agent')
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# Path to the voice agent script
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script_path = os.path.join(package_share.find('coffee_voice_agent'), 'scripts', 'livekit_voice_agent.py')
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# Create the voice agent process
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voice_agent_process = ExecuteProcess(
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cmd=[
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'python3',
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script_path,
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LaunchConfiguration('voice_agent_mode')
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],
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output='screen',
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name='livekit_voice_agent',
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emulate_tty=True,
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shell=False,
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respawn=True, # Auto-restart in production mode
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respawn_delay=5.0,
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# Set environment variables for the voice agent
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additional_env={
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'WEBSOCKET_PORT': LaunchConfiguration('voice_agent_port'),
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'WEBSOCKET_HOST': LaunchConfiguration('voice_agent_host'),
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}
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)
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# Create the bridge node (with delay to let voice agent start first)
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bridge_node = TimerAction(
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period=3.0, # Wait 3 seconds for voice agent to start
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actions=[
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Node(
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package='coffee_voice_agent',
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executable='voice_agent_bridge',
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name='voice_agent_bridge',
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output='screen',
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emulate_tty=True,
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parameters=[{
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'voice_agent_host': LaunchConfiguration('voice_agent_host'),
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'voice_agent_port': LaunchConfiguration('voice_agent_port'),
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'reconnect_interval': LaunchConfiguration('bridge_reconnect_interval'),
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}],
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respawn=True,
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respawn_delay=2.0
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)
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]
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)
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return LaunchDescription([
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voice_agent_mode_arg,
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voice_agent_port_arg,
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bridge_reconnect_interval_arg,
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voice_agent_host_arg,
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voice_agent_process,
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bridge_node,
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])

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