I have a module that enables a certain amount of speech control of a ROS robot, using rosbridge. There is a video at https://youtu.be/hHxvRraPgzM
Speech Commands runs in a Chrome browser under Android, Windows,
or Linux on whatever computer or phone you are using to control the robot.
It is available on GitHub: https://github.com/UbiquityRobotics/speech_commands.
At present it uses ROS parameters to keep waypoints, Unfortunately these are not persistent. Surely someone has done a neat way to solve this problem, but I haven’t found it yet. Suggestions, etc. are welcome.