ros_vosk

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

Tutorials

Install this package and vosk
```
sudo apt install ros-${ROS_DISTRO}-ros-vosk
```
don't forget to run catkin_make
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
```
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..