Implemented Whisper speech-to-text conversion using Cobra for detecting if someone is speaking.
Whisper works by saving audio message bytes to BytesIO buffer and flushing it when the person has finished speaking.
- Created Whisper node.
- Created cobra.py running a ROS service to detect if someone is speaking in given audio data.
- API keys are retreived by loading a *_cred.json file (both GPT3 and Cobra).
- Whisper adds the previously received audio bytes when starting to listen, in case of cobra not hearing the first letters/words and to prevent these being cut off.
Closes #142