ROS语音合成-----sound_play应用

    sound_play提供一个node，可以把topic(robotsound)中的commands转化为语音， 该node支持内建语音，播放OGG/WAV文件，以及通过festival做语音合成功能。

1 命令行使用

1.1 播放OGG/WAV文件

1）检查声卡

siriansu@siriansu-nuc:~/cmusphinx/mytest$ cat /proc/asound/cards
 0 [PCH            ]: HDA-Intel - HDA Intel PCH
                      HDA Intel PCH at 0xdc340000 irq 135
 1 [Device         ]: USB-Audio - USB Audio Device
                      C-Media Electronics Inc. USB Audio Device at usb-0000:00:14.0-1, full speed)

我目前使用声卡1，这个需要设置。

2）启动ros master

roscore

3）启动sound_play节点

rosrun sound_play soundplay_node.py

4）播放声音文件

rosrun sound_play play.py /usr/share/sounds/alsa/Side_Right.wav

1.2 播放内建语音

与1.1唯一差异步骤在4），运行命令（后面数字为内建的语音的IDs）

rosrun sound_play playbuiltin.py 2

查看内建的语音消息sound_play/SoundRequest的命令如下：

cat `rospack find sound_play`/msg/SoundRequest.msg

1.3 播放语音合成text

与1.1唯一差异步骤在4），运行命令如下：

rosrun sound_play say.py 'Hello world'

如果你不喜欢这个声音，可以执行下面命令来换一个人发音，

sudo apt-get install festvox-don

rosrun sound_play say.py 'Hello world' voice_don_diphone

1.4 使robot静默

有时候node连续请求正在播放sound会导致node crash，所以我们可能需要临时shutup robot，

rosrun sound_play shutup.py

1.5 测试节点soundplay_node.py是否正常

rosrun sound_play test.py

这个操作将会播放各种内建的声音，wav文件，以及执行TTS操作。

2 节点说明

2.1 订阅的主题（为play sound）

robotsound (sound_play/SoundRequest)

2.2发布的主题（报告driver诊断信息）

diagnostics (diagnostic_msgs/DiagnosticArray)

3 Robot发音

   让robot说我们通过麦克风讲的话，即复述我们的话，这里我们可以简单使用ros by example volume 1中小程序talkback.py。

roslaunch rbx1_speech talkback.launch

大致工作思路：

1）节点/recognizer完成语音识别，并且通过主题/recognizer/output发布是别的格式std_msgs/String的语音文本串

2）节点/talkback订阅/recognizer/output，并通过/robotsound主题发布

3）节点/soundplay_node订阅/robotsound，并播放语音

talkback.py文件内容如下：

#!/usr/bin/env python

"""
    talkback.py - Version 1.1 2013-12-20
    
    Use the sound_play client to say back what is heard by the pocketsphinx recognizer.
    
    Created for the Pi Robot Project: http://www.pirobot.org
    Copyright (c) 2012 Patrick Goebel.  All rights reserved.

    This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.5
    
    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details at:
    
    http://www.gnu.org/licenses/gpl.htmlPoint
"""

import rospy
from std_msgs.msg import String
from sound_play.libsoundplay import SoundClient
import sys

class TalkBack:
    def __init__(self, script_path):
        rospy.init_node('talkback')

        rospy.on_shutdown(self.cleanup)
        
        # Set the default TTS voice to use
        self.voice = rospy.get_param("~voice", "voice_don_diphone")
        
        # Set the wave file path if used
        self.wavepath = rospy.get_param("~wavepath", script_path + "/../sounds")
        
        # Create the sound client object
        self.soundhandle = SoundClient()
        
        # Wait a moment to let the client connect to the
        # sound_play server
        rospy.sleep(1)
        
        # Make sure any lingering sound_play processes are stopped.
        self.soundhandle.stopAll()
        
        # Announce that we are ready for input
        self.soundhandle.playWave(self.wavepath + "/R2D2a.wav")
        rospy.sleep(1)
        self.soundhandle.say("Ready", self.voice)
        
        rospy.loginfo("Say one of the navigation commands...")

        # Subscribe to the recognizer output and set the callback function
        rospy.Subscriber('/recognizer/output', String, self.talkback)
        
    def talkback(self, msg):
        # Print the recognized words on the screen
        rospy.loginfo(msg.data)
        
        # Speak the recognized words in the selected voice
        self.soundhandle.say(msg.data, self.voice)
        
        # Uncomment to play one of the built-in sounds
        #rospy.sleep(2)
        #self.soundhandle.play(5)
        
        # Uncomment to play a wave file
        #rospy.sleep(2)
        #self.soundhandle.playWave(self.wavepath + "/R2D2a.wav")

    def cleanup(self):
        self.soundhandle.stopAll()
        rospy.loginfo("Shutting down talkback node...")

if __name__=="__main__":
    try:
        TalkBack(sys.path[0])
        rospy.spin()
    except rospy.ROSInterruptException:
        rospy.loginfo("Talkback node terminated.")