ros_speech_recognition

A ROS package for speech-to-text services.
This package uses Python package SpeechRecognition as a backend.

Tutorials

1. Install this package

  sudo apt install ros-${ROS_DISTRO}-ros-speech-recognition

1. Launch speech recognition node

  roslaunch ros_speech_recognition speech_recognition.launch

1. Use from Python

  import rospy
  from ros_speech_recognition import SpeechRecognitionClient

  rospy.init_node("client")
  client = SpeechRecognitionClient()
  result = client.recognize()  # Please say 'Hello, world!' towards microphone
  print result # => 'Hello, world!'

Interface

Publishing Topics

• sound_play (sound_play/SoundRequestAction)

Action client to play sound on events. If the action server is not available, no sound is played.

Subscribing Topics

• audio (audio_common_msgs/AudioData)

Audio stream data to be recognized.

Advertising Services

• speech_recognition (speech_recognition_msgs/SpeechRecognition)

Service for speech recognition

Parameters

• ~language (String, default: en-US)

Language to be recognized

• ~engine (Enum[String], default: Google)

Speech-to-text engine (To see full options use dynamic_reconfigure)

• ~energy_threshold (Double, default: 300)

Threshold for Voice activity detection

• ~dynamic_energy_threshold (Bool, default: True)

Adaptive estimation for energy_threshold

• ~dynamic_energy_adjustment_damping (Double, default: 0.15)

Damping threshold for dynamic VAD

• ~dynamic_energy_ratio (Double, default: 1.5)

Energy ratio for dynamic VAD

• ~pause_threshold (Double, default: 0.8)

Seconds of non-speaking audio before a phrase is considered complete

• ~operation_timeout (Double, default: 0.0)

Seconds after an internal operation (e.g., an API request) starts before it times out

• ~phrase_threshold (Double, default: 0.3)

Minimum seconds of speaking audio before we consider the speaking audio a phrase

• ~non_speaking_duration (Double, default: 0.5)

Seconds of non-speaking audio to keep on both sides of the recording

• ~depth (Int, default: 16)

Depth of audio signal

• ~sample_rate (Int, default: 16000)

Sample rate of audio signal

• ~start_signal (String, default: /usr/share/sounds/ubuntu/stereo/bell.ogg)

Path to sound file for bell on the start of audio caption

• ~recognized_signal (String, default: /usr/share/sounds/ubuntu/stereo/button-toggle-on.ogg)

Path to sound file for bell on the end of audio caption

• ~success_signal (String, default: /usr/share/sounds/ubuntu/stereo/message-new-instant.ogg)

Path to sound file for bell on getting successful recognition result

• ~timeout_signal (String, default: /usr/share/sounds/ubuntu/stereo/window-slide.ogg)

Path to sound file for bell on timeout for recognition

• ~google_key (String, default: None)

Auth Key for Google API. If None, use public key. (No guarantee to be blocked.)
This is valid only if ~engine is Google.

• ~google_cloud_credentials_json (String, default: None)

Path to credential json file. This is valid only if ~engine is GoogleCloud.

• ~google_cloud_preferred_phrases ([String], default: None)

Preferred phrases parameters. This is valid only if ~engine is GoogleCloud.

• ~bing_key (String, default: None)

Auth key for Bing API.
This is valid only if ~engine is bing.

Author

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>

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