RosSpeaks

A simple generic TTS speak simulator ROS Node. Other to be used Speech engines can also be configured.

Installation Prerequisites

One or both of these are pre installed

• espeak (default)
• spd-say

# installation
sudo apt-get update
# espeak
sudo apt-get install espeak
# spd-say
sudo apt-get install speech-dispatcher

Setup Node

# run in your ros2_ws/src folder
git clone https://gitlab.com/bob-ros2/rosspeaks.git
cd ..
colcon build
. install/setup.bash

ROS Node rosspeaks

Usage

# start the node.
ros2 run rosspeaks speak.py

Node Parameter

~pitch (int, default: 60)
Pitch of voice.

~rate (int, default: 90)
Rate of voice.

~lang (string, default: "en+f3")
Language type. The value format depends on the used speech engine.

~level (int, default: 70)
Level of voice.

~suppress (Bool, default: False)
Possibility to suppress the speak execution. If True all new messages are discarded until it's set back to False.

~exec (string, default: "espeak")
To be used speach executable. Integrated speech engines are 'espeak' and 'spdsay'.
If providing a custom executable it will be called in the followng way:
script <pitch> <rate> <lang> <level> <text>

Subscribed Topics

~speak (std_msgs/String)
Text to speak. For better control use the action if a finished feedback is needed or use the published speaking topic.

Published Topics

~speaking (std_msgs/Bool)
Flag which indicates if speaking is ongoing. The message is letched to see the last state at any time.

Actions

~speak
Perfoms speaking. The action ends when speaking has finished. See action/Speaking.action for details.

Dynamic Reconfigure Parameter

~pitch
~rate
~lang
~level
~suppress
~exec

Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.
Please make sure to update tests as appropriate.

License

Apache2.0