vislab-tecnico-lisboa / vizzy_speech

vizzy_speech

Speech messages and ros software for Vizzy

Screencapture of the speech interface

(Graphics designed by Hugo Simão)

Using this package on the real Vizzy robot:

This package is already loaded with the main launcher. The web interface's link is bookmarked on Vizzy's laptop.

Using this package at home:

You need to setup a google cloud account. Follow the steps in: https://cloud.google.com/text-to-speech/docs/before-you-begin
Put the credentials file in the "vizzy_speech/vizzy_speech_servers/credentials" folder and call it "google.json"
Change the IP address to the one of your roscore in

vizzy_speech/vizzy_web_woz/js/button_events.js

Line 27 in b1e15f4

url : 'ws://10.1.3.1:9090'

. If you are making tests locally you can just use the localhost (127.0.0.1).
Launch a simplified launcher with just the action server and rosbridge_websocket:

roslaunch vizzy_speech_servers liteWozSystem.launch

Open the vizzy_web_oz/index.html file on your browser. We tested this on Google Chrome and the Brave Browser.

If you want to edit the predefined utterances

Edit the files in vizzy_speech/vizzy_web_woz/js/lang_xx.js

Using the action client from sofware

Python

#!/usr/bin/env python
# -*- coding: utf-8 -*-

from __future__ import print_function
import rospy


# Brings in the SimpleActionClient
import actionlib

import woz_dialog_msgs.msg

def test_action():


    client = actionlib.SimpleActionClient('gcloud_tts', woz_dialog_msgs.msg.SpeechAction)

    client.wait_for_server()

    goal = woz_dialog_msgs.msg.SpeechGoal(language="pt_PT", voice="pt-PT-Wavenet-D", message="Olá boa tarde", speed=2)

    client.send_goal(goal)

    client.wait_for_result()

    return client.get_result() 

if __name__ == '__main__':
    try:
        # Initializes a rospy node so that the SimpleActionClient can
        # publish and subscribe over ROS.

        rospy.init_node('speech_gcloud_client_py')
        result = test_action()
        print("Result:", result.success)
    except rospy.ROSInterruptException:
        print("program interrupted before completion", file=sys.stderr)