Move ASR & TTS api to rai core

[maciejmajek]

Is your feature request related to a problem? Please describe.
Currently, ASR and TTS features are implemented in RAI_ASR and RAI_TTS ROS 2 packages. This makes it hard to test these features outside of ROS 2.

Describe the solution you'd like
The api should be moved to the core rai package.
Benefits:

• Easier testing
• Code reusability (RAI_ASR, RAI_TTS packages, streamlit configurator script, pytest tests)
• Making developing interruptible conversation module easier (No ROS 2 abstractions between ASR, TTS, and generator (llm))

Describe alternatives you've considered
A clear and concise description of any alternative solutions or features you've considered.

Additional context
Add any other context or screenshots about the feature request here.