A ROS package for speech-to-text services based on Vosk

1. Install this package and vosk

sudo apt install ros-${ROS_DISTRO}-ros-vosk

don't forget to run catkin_make

2. Install Dependencies

If using ROS MELODIC run first:

sudo apt install python3-pip python3-yaml

Then run for MELODIC & NOETIC:

pip3 install sounddevice
pip3 install vosk

And if you want to use the TTS engine please run:

sudo apt install espeak
pip install pyttsx3

3. Launch the node

Launch the speech recognition node

roslaunch ros_vosk ros_vosk.launch

or by running:

rosrun ros_vosk vosk_node.py

• speech_recognition/vosk_result -> vosk_node.py publishes a custom "speech_recognition" message
• speech_recognition/final_result -> vosk_node.py publishes a simple string with the final result
• speech_recognition/partial_result -> vosk_node.py publishes a simple string with the partial result
• tts/status -> tts_engine.py publishes the state of the engine. True if it is speaking False if it is not. If the status is true vosk_node won't process the audio stream so it won't listen to itself
• tts/phrase -> tts_engine.py subscribes to this topic in order to speak the given string. Name your desire and it shall be heard by all in the room..

Angelo Antikatzidis [email protected] Nickolay V. Shmyrev [email protected]