Voice control (sphinx+festival)
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.
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: