Voice control (sphinx+festival) - Revision history

Fernando at 11:11, 29 September 2014

2014-09-29T11:11:54Z

Fernando at 11:37, 5 September 2014

2014-09-05T11:37:45Z

Fernando at 13:52, 3 September 2014

2014-09-03T13:52:13Z

Fernando at 07:45, 23 July 2014

2014-07-23T07:45:04Z

Fernando at 09:32, 8 July 2014

2014-07-08T09:32:14Z

Fernando at 09:30, 8 July 2014

2014-07-08T09:30:08Z

Victorm at 10:40, 25 June 2014

2014-06-25T10:40:15Z

Fernando: /* Control program MYRAbot */

2014-06-10T21:52:34Z

‎Control program MYRAbot

Fernando at 08:03, 9 June 2014

2014-06-09T08:03:06Z

Fernando at 10:55, 28 April 2014

2014-04-28T10:55:05Z

@@ Line 20: / Line 20: @@
 | valign="top" |
-[[CeRVaNTeS' arm control (maxon+epos2)]]<br/>
+[[CeRVaNTeS' arm and base control (maxon+epos2)]]<br/>
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
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 | valign="top" |
-[[CeRVaNTeS' arm control (maxon+epos2)]]<br/>
+[[CeRVaNTeS' arm and base control (maxon+epos2)]]<br/>
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>

@@ Line 16: / Line 16: @@
 [[MYRAbot model for simulation (urdf+gazebo)]]<br/>
 [[Integration of MYRAbot in moveIt! (gazebo+moveIt!)]]<br/>
-[[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
+[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 | valign="top" |
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 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
-[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]
+[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>
 |}
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 [[MYRAbot model for simulation (urdf+gazebo)]]<br/>
 [[Integration of MYRAbot in moveIt! (gazebo+moveIt!)]]<br/>
-[[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
+[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
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 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
-[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]
+[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>
 |}

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 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
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 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>

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 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
-[[CeRVaNTeS model for simulation (urdf+gazebo)]]
+[[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
 |}
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 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
-[[CeRVaNTeS model for simulation (urdf+gazebo)]]
+[[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
 |}

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-[[CeRVaNTeS's arm model for simulation (urdf+gazebo)]]<br/>
+[[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]

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-==Preliminary steps==
+=Preliminary steps=
 We use [http://cmusphinx.sourceforge.net/ CMU Pocket Sphinx] for speech recognition developed on [http://www.cmu.edu/index.shtml Carnegie Mellon University], and [http://www.cstr.ed.ac.uk/projects/festival/ Festival Speech Synthesis System] for text speech developed on [http://www.ed.ac.uk/home University of Edinburgh].
@@ Line 48: / Line 48: @@
 [http://www.cstr.ed.ac.uk/projects/festival/ Festival Speech Synthesis System] is intigrated in the [http://wiki.ros.org/ ROS] ''package'' [http://wiki.ros.org/sound_play?distro=electric sound_play].
-==Speech recognition==
+=Speech recognition=
 First, we will execute the next command in a terminal within our workspace in order to create a ''package'' named "voz_fer" that will content the voice control programs:
@@ Line 98: / Line 98: @@
 <syntaxhighlight>rostopic echo recognizer/output</syntaxhighlight>
-==Text speech==
+=Text speech=
 We have to use the class sound_play::SoundClient in order to use text speech in our program. The public functions of this class are shown below:
@@ Line 138: / Line 138: @@
 We will use the function "say" that say once a string using the default synthesized voice "voice_kal_diphone". We have to use the function "sleep(seconds)" in order to pause the program execution to say the string.
-==Control program MYRAbot==
+=Control program MYRAbot=
 This program allows us teleoperate MYRAbot and point objects with the [[MYRAbot's arm control (bioloid+arduino)|arm]] using our voice. The program is subscribe to the ''topic'' "recognizer/output" (publised by pocketsphinx) and publishes the ''topics'' "cmd_vel" (base control) and "selected_object" (point objects using the program [[Objects recognition and position calculation (webcam)#To point objects (Choose)]|choose]). We will create a file named "control_voz.cpp" within the folder "src" of the created ``package'' with the content that is shown below:

← Older revision		Revision as of 21:52, 10 June 2014
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	<center><videoflash>_hvuvlRyNt0</videoflash></center>		<center><videoflash>_hvuvlRyNt0</videoflash></center>

−	<center>[http://www.youtube.com/watch?v=_hvuvlRyNt0 ~~Ver vídeo en~~ YouTube]</center>	+	<center>[http://www.youtube.com/watch?v=_hvuvlRyNt0 Watch in YouTube]</center>

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 ----
-Related articles
+{| style="border: solid 0px white; width: 100%"
 ----
 [[MYRAbot's arm control (bioloid+arduino)]]<br/>
 [[Objects recognition and position calculation (webcam)]]<br/>
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 [[Integration of MYRAbot in moveIt! (gazebo+moveIt!)]]<br/>
 [[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 ----
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 ----
-Related articles
+{| style="border: solid 0px white; width: 100%"
 ----
 [[MYRAbot's arm control (bioloid+arduino)]]<br/>
 [[Objects recognition and position calculation (webcam)]]<br/>
@@ Line 438: / Line 457: @@
 [[Integration of MYRAbot in moveIt! (gazebo+moveIt!)]]<br/>
 [[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 ----
 [[Mobile manipulation | < go back to main]]