Speech

The speech package is run on Jenny's PC3 This will generate two files (.bnf and .fcf), which contain the speech commands in the form of a dictionary . The state machine receives one of this keys, and looks for the related words, while discarding the garbage.

Packages

• nuance_vocon_speech_recognition: speech recognition

• manyears_ros: sound localization 8 sounds / Manyears

Scripts

• android_speech_recognition.py define the path to the grammar file

• command_states_speech.py requires a string and just outputs the audio.

Running the code

Speech recognition

roslaunch vocon_speech_recognizer vocon.launch

The default grammar file is specified in:vocon_speech_recognizer/data/general_purpose.bnf.

Recognized speech is published on the topic:/recognized_speech Strings published to /sound/say are output to the speaker as audio

rostopic echo /recognized_speech
rostopic echo /sound/say
rostopic pub /sound/say std_msgs/String "hello"

To generate new grammar files you can: a) https://gist.github.com/moriarty/20fbb331d90755a059ad7df30fba16ac b) go to http://edinburgh.uni-koblenz.de:8000/ and upload the grammar file (.txt).

In Jenny

Run the following:

cob3
roslaunch mdr_speech_and_audio speech_test.launch

In another terminal:

cob1
rosrun mdr_speech_and_audio speech_test

once you run the speech_test

Say "begin test" or "start test" and then ask one of the questions from /mcr_speech/mcr_question_matching/ros/config/questions.txt

ManyEars sound localization

Sound source direction is published on the topic: /manyears/source_direction

Parameter file which specifies arrangement of microphones on Jenny and other config: manyears_ros/data/cob3-1.mes

In Jenny

In addition to the roscore and robot.launch, run:

cob1
rosrun mdr_speech_and_audio turn_and_answer_test

In another terminal:

cob2
roslaunch manyears_ros demo_8sounds.launch

And finally:

cob1
roslaunch mdr_speech_and_audio turn_and_answer_test.launch

Speech synthesis is done on cob3 using the following node. It is launched by default with bringup. In case you reboot cob3 while bringup is running, relaunch this node:

cob3
roslaunch cob_bringup sound.launch

Calibration

A description of the parameters can be found here: https://sourceforge.net/p/manyears/wiki/SoftwareDocumentation/