From b34c0ba379c8cc46e32980fc73759172cd9aab36 Mon Sep 17 00:00:00 2001
From: yasutomo57jp <yasutomo57jp@gmail.com>
Date: Tue, 23 May 2023 17:09:28 +0900
Subject: [PATCH] the model and the target language are parametrized

---
 launch/ros2_whisper.launch.py          | 1 +
 ros2_whisper/whisper_inference_node.py | 9 +++++++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/launch/ros2_whisper.launch.py b/launch/ros2_whisper.launch.py
index d2f2ae1..2c888b6 100644
--- a/launch/ros2_whisper.launch.py
+++ b/launch/ros2_whisper.launch.py
@@ -17,6 +17,7 @@ def generate_launch_description():
         package="ros2_whisper",
         executable="whisper_inference_node",
         output="screen",
+        parameters=[{"model": "base", "lanaguage": "english"}],
     )
 
     whisper_inference_node_event_handler = RegisterEventHandler(
diff --git a/ros2_whisper/whisper_inference_node.py b/ros2_whisper/whisper_inference_node.py
index 460c1c8..270c78c 100644
--- a/ros2_whisper/whisper_inference_node.py
+++ b/ros2_whisper/whisper_inference_node.py
@@ -12,8 +12,13 @@
 class WhisperInferenceNode(Node):
     def __init__(self, node_name: str) -> None:
         super().__init__(node_name)
-        self.whisper_model_ = whisper.load_model("base")
-        self.whisper_options_ = whisper.DecodingOptions(language="english")
+        self.declare_parameter("model", "base")
+        self.declare_parameter("language", "english")
+        model = self.get_parameter("model").value
+        language = self.get_parameter("language").value
+
+        self.whisper_model_ = whisper.load_model(model)
+        self.whisper_options_ = whisper.DecodingOptions(language=language)
 
         self.declare_parameters(
             namespace="",