Difference between revisions of "Voice control (sphinx+festival)"

Revision as of 22:03, 24 April 2014

Preliminary steps

We use CMU Pocket Sphinx for speech recognition developed on Carnegie Mellon University, and Festival Speech Synthesis System for text speech developed on University of Edinburgh.

Currently the ROS package pocketsphinx is available for groovy and hydro distributions. We can install it executing the next command in a terminal:

sudo apt-get install ros-"groovy or hydro"-pocketsphinx

We have to install the ubuntu package CMU Pocket Sphinx in previous ROS distributions. We will execute the next command in a terminal to install it:

sudo apt-get install gstreamer0.10-pocketsphinx

Moreover for previous ROS distributions, we have to download the ROS stack "rharmony" by University of Albany in order to integrate CMU Pocket Sphinx in ROS. We will place in the ROS workspace and we will execute the next commands in a terminal:

svn checkout http://albany-ros-pkg.googlecode.com/svn/trunk/rharmony
rosmake --rosdep-install pocketsphinx

Festival Speech Synthesis System is intigrated in the ROS package sound_play.

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:

roscreate-pkg voz_fer pocketsphinx sound_play std_msgs roscpp

We have to select the vocabulary that we use to control the robot. We use short sentences for the orders in order to reduce the recognition mistakes. We will create a file named "comandos_voz.txt" within the folder "config" of the created package with the content that is show below (each sentence must be in a new line):

start speech
stop speech
go forward
go back
turn left
turn right
speed up
slow down
rotate left
rotate right
stop
point beer
point cocacola
fold arm

We will upload and compile the created file "comandos_voz.txt" in the next link in order to generate the recognition vocabulary:

Sphinx knowledge base tool

We will download and rename (commandos_voz.*) the generated files within the folder "config" of the generated package. We will create a file named "comados_voz.launch" within the folder "launch" of the package in order to start CMU Pocket Sphinx with our vocabulary:

<launch>

  <node name="recognizer" pkg="pocketsphinx" type="recognizer.py" output="screen">
    <param name="lm" value="$(find voz_fer)/config/comandos.lm"/>
    <param name="dict" value="$(find voz_fer)/config/comandos.dic"/>
  </node>
  
</launch>

We will execute the next command in a terminal in order to start the speech recognition:

roslaunch voz_fer comandos_voz.launch

The results of the speech recognition are published in the topic "recognizer/output" (message type std_msgs/String). We will execute the next command in a terminal in order to see the results of the speech recognition:

rostopic echo recognizer/output

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:

Sound 	builtinSound (int id)
 	Create a builtin Sound.
void 	play (int sound)
 	Play a buildin sound.
void 	playWave (const std::string &s)
 	Plays a WAV or OGG file.
void 	repeat (const std::string &s)
 	Say a string repeatedly.
void 	say (const std::string &s, const std::string &voice="voice_kal_diphone")
 	Say a string.
void 	setQuiet (bool state)
 	Turns warning messages on or off.
 	SoundClient (ros::NodeHandle &nh, const std::string &topic)
 	Create a SoundClient that publishes on the given topic.
 	SoundClient ()
 	Create a SoundClient with the default topic.
void 	start (int sound)
 	Play a buildin sound repeatedly.
void 	startWave (const std::string &s)
 	Plays a WAV or OGG file repeatedly.
void 	stop (int sound)
 	Stop playing a built-in sound.
void 	stopAll ()
 	Stop all currently playing sounds.
void 	stopSaying (const std::string &s)
 	Stop saying a string.
void 	stopWave (const std::string &s)
 	Stop playing a WAV or OGG file.
Sound 	voiceSound (const std::string &s)
 	Create a voice Sound.
Sound 	waveSound (const std::string &s)

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

This program allows us teleoperate MYRAbot and point objects with the 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:

  #include "std_msgs/Int16.h"
  #include "std_msgs/String.h"
  #include "geometry_msgs/Twist.h"
  #include "sound_play/sound_play.h"
 
  int inicio = 0;
  int rotate = 0;
  int turn = 0;
  int start = 0;
  int stop = 1;
  float linear_vel = 0.0;
  float angular_vel = 0.0;
  std_msgs::String comando_voz;  
 
  void sleepok(int t, ros::NodeHandle &n)
  {
       if (n.ok())
               sleep(t);
  } 
 
  void speech(const std_msgs::String& voz)
  {
	::comando_voz = voz;
	
	ros::NodeHandle n;	
       
	ros::Publisher object_pub_=n.advertise<std_msgs::Int16>("selected_object", 1); 
        
	ros::Publisher move_base_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1); 
	

	
	std_msgs::Int16 objeto;
	geometry_msgs::Twist mover_base;
	      
	if (::comando_voz.data == "start speech")
	{
		inicio = 1;
				
	}
	else if (::comando_voz.data == "stop speech")
	{
		inicio = 0;
				
	}
	else if (inicio == 1)
	{
		if (::comando_voz.data == "stop")
		{
			::linear_vel = 0.0;
			::angular_vel = 0.0;
			
		}
		else if (::comando_voz.data == "go forward")
		{
			
			::linear_vel = 0.1;
			::angular_vel = 0.0;
			
		}
		else if (::comando_voz.data == "go back")
		{
			
			::linear_vel = -0.1;
			::angular_vel = 0.0;
			
		}	
		else if (::comando_voz.data == "turn left")
		{
			if (::angular_vel <= 0 || ::rotate == 1)
			{
				::angular_vel = 0.1;
				
				::rotate = 0;
				::turn = 1;					
			}
			else
			{
			
				::angular_vel = ::angular_vel + 0.1;

			}
		}
		else if (::comando_voz.data == "turn right")
		{
			if (::angular_vel >= 0 || ::rotate == 1)
			{
				::angular_vel = -0.1;
				
				::rotate = 0;
				::turn = 1;				
			}
			else
			{
		
			         ::angular_vel = ::angular_vel - 0.1;

			}
		}
		else if (::comando_voz.data == "rotate left")
		{
			if (::angular_vel <= 0 || ::turn == 1)
			{
				::angular_vel = 0.1;
				
				::turn = 0;
				::rotate = 1;
			}
			
			::linear_vel = 0.0;
			
		}
		else if (::comando_voz.data == "rotate right")
		{
			if (::angular_vel >= 0 || ::turn == 1)
			{
				::angular_vel = -0.1;
				
				::turn = 0;
				::rotate = 1;				
			}
			
			::linear_vel = 0.0;

		}		
		else if (::comando_voz.data == "speed up")				
		{
			if (::linear_vel == 0)
			{
				if (::angular_vel > 0 && ::rotate == 1)
				{
					::angular_vel= ::angular_vel + 0.05;
				}
				else if (::rotate == 1)
				{
					::angular_vel = ::angular_vel - 0.05;
				}			
			}
			else
			{
				if (::linear_vel > 0)
				{
					::linear_vel = ::linear_vel + 0.05;
				}
				else
				{
					::linear_vel = ::linear_vel - 0.05;
				}
			}
		}
		else if (::comando_voz.data == "slow down")				
		{
			if (::linear_vel == 0)
			{
				if (::angular_vel > 0 && ::rotate == 1)
				{
					::angular_vel = ::angular_vel - 0.05;
				}
				else if (::rotate == 1)
				{
					::angular_vel = ::angular_vel + 0.05;
				}					
			}
			else
			{
				if (::linear_vel > 0)
				{
					::linear_vel = ::linear_vel - 0.05;
				}
				else
				{
					::linear_vel = ::linear_vel + 0.05;
				}			
			}
		}
		else if (::comando_voz.data == "point beer")
		{
			objeto.data = 1;
			
			object_pub_.publish(objeto);
		}
		else if (::comando_voz.data == "point cocacola")
		{
			objeto.data = 2;
			
			object_pub_.publish(objeto);
		}
		else if (::comando_voz.data == "fold arm")
		{
			objeto.data = 100;
			
			object_pub_.publish(objeto);
		}													
	}
  }
      
  int main(int argc, char **argv)
  {
         
        ros::init(argc, argv, "control_voz");  
 
        ros::NodeHandle n;
 
        ros::Subscriber speech_sub_= n.subscribe("/recognizer/output", 1, speech);
       
        ros::Publisher object_pub_=n.advertise<std_msgs::Int16>("selected_object", 1); 
        
        ros::Publisher move_base_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
	      
        
        ros::Rate loop_rate(10);
        
        geometry_msgs::Twist mover_base;
        
        sound_play::SoundClient voz_robot;
        
		sleepok(1, n);        
        
        while (ros::ok())
        {		
			mover_base.linear.x = ::linear_vel;
			mover_base.angular.z = ::angular_vel; 
			
			move_base_pub_.publish(mover_base);
			
			if (::comando_voz.data == "start speech" && ::start == 0)
			{
				voz_robot.say("bep bep. I am listening you");
				
				sleepok(4, n);
				
				::start = 1;
				::stop = 0;
			}
			else if (::comando_voz.data == "stop speech" && ::stop == 0)
			{
				voz_robot.say("bep bep. I stop listening");
				
				sleepok(4, n);
				
				::stop = 1;
				::start = 0;
			}			
			
			ros::spinOnce();
	
			loop_rate.sleep();			
        
		}                     
       
        ros::spin();  
 
        return 0;
  }

< go back to main

@@ Line 114: / Line 114: @@
 ==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:
-<!--
-==Programa de control MYRAbot==
-Este programa permite teleoperar mediante la voz el MYRAbot, así como dar una serie de órdenes para el señalado de objetos presentes en la escena. El programa crea un ''nodo'' llamado "control_voz" el cual se suscribe al ''topic'' "recognizer/output", publicado por pocketsphinx, y publica los ''topics'' "cmd_vel", para el control de los movimientos de la base, y "selected_object", para la selección de opciones de apuntado del [[Control brazo MYRAbot (bioloid+arduino)|brazo]], al que está suscrito el programa [[Detección y cálculo de posición de objetos (cámara web)#Señalar objetos (Escoja)|escoja]]. En el directorio "src" de nuestro ''package'' crearemos un archivo llamado "control_voz.cpp", con el siguiente contenido:
 <syntaxhighlight lang="cpp" enclose="div">
@@ Line 381: / Line 375: @@
 </syntaxhighlight>
+<!--
 Para poder compilar y generar el ejecutable del programa añadiremos la siguiente línea de código al final del archivo "CMakeLists.txt" de nuestro ''package'':

Difference between revisions of "Voice control (sphinx+festival)"

Revision as of 22:03, 24 April 2014

Contents

Preliminary steps

Speech recognition

Text speech

Control program MYRAbot

Navigation menu

Personal tools

Namespaces

Variants

Views

More

Search

Resources

Activities

Tools