gorinars / pocketsphinx

Updated ROS bindings to pocketsphinx

ROS package for pocketsphinx

Original repository: https://github.com/mikeferguson/pocketsphinx

Also used repo: https://github.com/gorinars/ros_voice_control

You can know more about pocketpshinx here: https://cmusphinx.github.io/

Dependencies

1. pyaudio

   sudo pip install pyaudio
   

   If this does not work, follow instructions below:

   sudo apt-get install libasound-dev
   sudo apt-get install python-pyaudio
   

2. pocketsphinx: You will need to have pip preinstalled for this to work

   sudo pip install pocketsphinx
   

   There are many dependencies which need to be met before installation of pocketsphinx through pip works. Use Synaptics package manager to install the unmet dependencies which would be mentioned as error messages on the terminal window in case installation fails. Some of them include:
   libpulse-dev
   swig

Getting Started

Clone this repository into the src folder of your catkin workspace using:

cd ~/catkin_ws/src
git clone https://github.com/Pankaj-Baranwal/pocketsphinx

To know more about catkin workspace and ROS, follow instructions at: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
After everything is setup, open a terminal from your catkin workspace and type the following command:

catkin_make

Now, you are all setup. To test kws(keyword spotting) mode:

1. You can use the default test files including a dictionary file and a kws list.
2. Launch roscore in a termincal window:

roscore

2. Use the following command to start the required launch file from demo folder inside this package:

roslaunch pocketsphinx kws.launch input:=goforward.raw dict:=voice_cmd.dic kws:=voice_cmd.kwlist

Please note that the files provided as input need to be present in the demo folder withing this package.
Remove the input parameter to enable continuous input from your system's microphone:

roslaunch pocketsphinx kws.launch dict:=voice_cmd.dic kws:=voice_cmd.kwlist

3. You can see the output as a message on the topic "kws_data"

rostopic echo /kws_data

Voila! You are good to go! You can read more about the different features and their usages in the wiki.
For running this node with turtlebot_gazebo simulation, follow these instructions:
4) Follow the above 3 steps.
5) Install turtlebot simulation packages. Instructions can be found on its ROS wiki.
If they do not work, you can use these instructions: https://docs.google.com/document/d/1gRBlLUdsWePjek5WvIHpK88wv1jqKmL901IvruDaM_I/edit?usp=sharing
6) Launch turtlebot_gazebo:

roslaunch turtlebot_gazebo turtlebot_world.launch

7. Launch voice_control_example.py:

rosrun pocketsphinx voice_control_example.py

And now, your turtlebot simulation will follow your voice commands! Words in the dictionary include: "forward", "back", "stop", "half speed", "full speed", "left", "right" etc

Further details can be found in the wiki!