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lasr_voice

The lasr_voice package

This package is maintained by:

Prerequisites​

This package depends on the following ROS packages:

  • catkin (buildtool)
  • rospy (build)
  • rospy (exec)
  • actionlib (build)
  • actionlib_msgs (build)
  • pal_interaction_msgs (build)
  • actionlib (exec)
  • actionlib_msgs (exec)
  • pal_interaction_msgs (exec)
  • sound_play (test)

The sound_play package must be available to run the sound_play_tts node!

Usage​

from lasr_voice.voice import Voice

voice = Voice()

# play something to tts and wait for it to end
voice.sync_tts("hello world")

# play something to tts and let it run in the background
voice.async_tts("hello world")

# wait until we stop talking
while voice.is_running():
    print("still talking")

In Simulation​

TIAGo's TTS action server is not available while in simulation, so we need to roll our own.

  • Avoid playing back TTS and just log actions:

    rosrun lasr_voice log_tts_events

  • Use sound_play as the backend for TTS:

    rosrun sound_play soundplay_node.py &
    rosrun lasr_voice sound_play_tts

Example​

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Technical Overview​

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ROS Definitions​

Launch Files​

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Messages​

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Services​

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Actions​

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