def _speak(self, sentence):
req = SoundRequest()
req.command = SoundRequest.PLAY_ONCE
req.sound = SoundRequest.SAY
req.arg = sentence
req.arg2 = 'ja'
req.volume = 0.8
self.speak_client.send_goal(SoundRequestGoal(sound_request=req))
self.speak_client.wait_for_result(timeout=rospy.Duration(10))
def speak_robot(str_speech):
#this doesnt work the first time - nobody knows why???
#print str_speech
tmp = SoundRequest()
tmp.sound = -3
tmp.command = 1
tmp.arg = str_speech
tmp.arg2 = ''
global voice_pub
voice_pub.publish(tmp)
def sendMsg(self, snd, cmd, s, arg2=""):
msg = SoundRequest()
msg.sound = snd
msg.command = cmd
msg.arg = s
msg.arg2 = arg2
self.pub.publish(msg)
## @todo this should be a warn once warns become visible on the console.
if self.pub.get_num_connections() < 1:
rospy.logerr("Sound command issued, but no node is subscribed to the topic. Perhaps you forgot to run soundplay_node.py");
def speak(self, sentence):
if self.speech_history[sentence] + rospy.Duration(self.warn_repeat_rate) > rospy.Time.now():
return
self.speech_history[sentence] = rospy.Time.now()
req = SoundRequest()
req.command = SoundRequest.PLAY_ONCE
req.sound = SoundRequest.SAY
req.arg = sentence
req.arg2 = "ja"
self.speak_client.send_goal(SoundRequestGoal(sound_request=req))
self.speak_client.wait_for_result(timeout=rospy.Duration(10))
def main():
pub = rospy.Publisher('robotsound', SoundRequest, queue_size=10)
rospy.sleep(0.1)
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg2 = 'voice_kal_diphone'
while not rospy.is_shutdown():
msg.arg = raw_input("Enter Command: ")
if msg.arg == "exit":
return
pub.publish(msg)
def main():
pub = rospy.Publisher('robotsound', SoundRequest, queue_size=10)
rospy.sleep(0.1)
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg2 = 'voice_kal_diphone'
while not rospy.is_shutdown():
msg.arg = raw_input("Enter Command: ")
if msg.arg=="exit":
return
pub.publish(msg)
def sendMsg(self, snd, cmd, s, arg2=""):
msg = SoundRequest()
msg.sound = snd
msg.command = cmd
msg.arg = s
msg.arg2 = arg2
self.pub.publish(msg)
## @todo this should be a warn once warns become visible on the console.
if self.pub.get_num_connections() < 1:
rospy.logerr(
"Sound command issued, but no node is subscribed to the topic. Perhaps you forgot to run soundplay_node.py"
)
def sendMsg(self, snd, cmd, s, arg2="", vol=1.0, prior = 1, **kwargs):
"""
Internal method that publishes the sound request, either directly as a
SoundRequest to the soundplay_node or through the actionlib interface
(which blocks until the sound has finished playing).
The blocking behavior is nominally the class-wide setting unless it has
been explicitly specified in the play call.
"""
# Use the passed-in argument if it exists, otherwise fall back to the
# class-wide setting.
blocking = kwargs.get('blocking', self._blocking)
msg = SoundRequest()
msg.sound = snd
# Threshold volume between 0 and 1.
msg.volume = max(0, min(1, vol))
msg.command = cmd
msg.arg = s
msg.arg2 = arg2
msg.priority = prior
rospy.logdebug('Sending sound request with volume = {}'
' and blocking = {}'.format(msg.volume, blocking))
# Defensive check for the existence of the correct communicator.
if not blocking and not self.pub:
rospy.logerr('Publisher for SoundRequest must exist')
return
if blocking and not self.actionclient:
rospy.logerr('Action client for SoundRequest does not exist.')
return
if not blocking: # Publish message directly and return immediately
self.pub.publish(msg)
if self.pub.get_num_connections() < 1:
rospy.logwarn("Sound command issued, but no node is subscribed"
" to the topic. Perhaps you forgot to run"
" soundplay_node.py?")
else: # Block until result comes back.
assert self.actionclient, 'Actionclient must exist'
rospy.logdebug('Sending action client sound request [blocking]')
self.actionclient.wait_for_server()
goal = SoundRequestGoal()
goal.sound_request = msg
self.actionclient.send_goal(goal)
self.actionclient.wait_for_result()
rospy.logdebug('sound request response received')
return
def sendMsg(self, snd, cmd, s, arg2="", vol=1.0, **kwargs):
"""
Internal method that publishes the sound request, either directly as a
SoundRequest to the soundplay_node or through the actionlib interface
(which blocks until the sound has finished playing).
The blocking behavior is nominally the class-wide setting unless it has
been explicitly specified in the play call.
"""
# Use the passed-in argument if it exists, otherwise fall back to the
# class-wide setting.
blocking = kwargs.get('blocking', self._blocking)
msg = SoundRequest()
msg.sound = snd
# Threshold volume between 0 and 1.
msg.volume = max(0, min(1, vol))
msg.command = cmd
msg.arg = s
msg.arg2 = arg2
rospy.logdebug('Sending sound request with volume = {}'
' and blocking = {}'.format(msg.volume, blocking))
# Defensive check for the existence of the correct communicator.
if not blocking and not self.pub:
rospy.logerr('Publisher for SoundRequest must exist')
return
if blocking and not self.actionclient:
rospy.logerr('Action client for SoundRequest does not exist.')
return
if not blocking: # Publish message directly and return immediately
self.pub.publish(msg)
if self.pub.get_num_connections() < 1:
rospy.logwarn("Sound command issued, but no node is subscribed"
" to the topic. Perhaps you forgot to run"
" soundplay_node.py?")
else: # Block until result comes back.
assert self.actionclient, 'Actionclient must exist'
rospy.logdebug('Sending action client sound request [blocking]')
self.actionclient.wait_for_server()
goal = SoundRequestGoal()
goal.sound_request = msg
self.actionclient.send_goal(goal)
self.actionclient.wait_for_result()
rospy.logdebug('sound request response received')
return
def arm_callback(data):
global pub_audio
global limbl
global limbr
global anglesl
global anglesr
limbr = baxter_interface.Limb('right')
limbl = baxter_interface.Limb('left')
if data.data == "right_arm_side":
#anglesr = {'right_e0': 0.0, 'right_e1': 0.0, 'right_w0': 0.0, 'right_w1': 0.0, 'right_w2': 0.0}
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Moving my right arm to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
limbr.move_to_joint_positions(anglesr)
elif data.data == "left_arm_side":
#anglesl = {'right_e0': 0.0, 'right_e1': 0.0, 'right_w0': 0.0, 'right_w1': 0.0, 'right_w2': 0.0}
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Moving my left arm to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
limbl.move_to_joint_positions(anglesl)
elif data.data == "left_arm_side":
#anglesr = {'right_e0': 0.0, 'right_e1': 0.0, 'right_w0': 0.0, 'right_w1': 0.0, 'right_w2': 0.0}
#anglesl = {'right_e0': 0.0, 'right_e1': 0.0, 'right_w0': 0.0, 'right_w1': 0.0, 'right_w2': 0.0}
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Moving both of my arms to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
limbr.move_to_joint_positions(anglesr)
limbl.move_to_joint_positions(anglesl)
def arm_callback(data):
global pub_audio
global limbl
global limbr
global anglesl
global anglesr
limbr = baxter_interface.Limb('right')
limbl = baxter_interface.Limb('left')
if data.data == "right_arm_side":
#anglesr = {'right_e0': 0.0, 'right_e1': 0.0, 'right_w0': 0.0, 'right_w1': 0.0, 'right_w2': 0.0}
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Moving my right arm to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
limbr.move_to_joint_positions(anglesr)
elif data.data == "left_arm_side":
#anglesl = {'right_e0': 0.0, 'right_e1': 0.0, 'right_w0': 0.0, 'right_w1': 0.0, 'right_w2': 0.0}
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Moving my left arm to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
limbl.move_to_joint_positions(anglesl)
elif data.data == "left_arm_side":
#anglesr = {'right_e0': 0.0, 'right_e1': 0.0, 'right_w0': 0.0, 'right_w1': 0.0, 'right_w2': 0.0}
#anglesl = {'right_e0': 0.0, 'right_e1': 0.0, 'right_w0': 0.0, 'right_w1': 0.0, 'right_w2': 0.0}
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Moving both of my arms to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
limbr.move_to_joint_positions(anglesr)
limbl.move_to_joint_positions(anglesl)
def speak(self, sentence):
# Pick first 4 characters as a keyword instead of using whole sentence
# because sentence can have variables like 100%, 90%, etc.
key = sentence[:4]
if self.speech_history[key] + rospy.Duration(self.warn_repeat_rate) > rospy.Time.now():
return
self.speech_history[key] = rospy.Time.now()
req = SoundRequest()
req.command = SoundRequest.PLAY_ONCE
req.sound = SoundRequest.SAY
req.arg = sentence
req.arg2 = "ja"
req.volume = 1.0
self.speak_client.send_goal(SoundRequestGoal(sound_request=req))
self.speak_client.wait_for_result(timeout=rospy.Duration(10))
def announcement_worker(self):
while not rospy.is_shutdown():
self.announceCV.acquire()
if len(self.announcements) > 0:
msg = SoundRequest()
msg.sound = SoundRequest.SAY
msg.command = SoundRequest.PLAY_ONCE
msg.arg = self.announcements.pop(0)
msg.arg2 = 'voice.select "%s"'%self.voice
self.audio_pub.publish(msg)
duration = self.speech_delay + self.speech_rate*len(msg.arg)
self.announceCV.wait(timeout=duration)
self.announceCV.release()
else:
self.announceCV.wait(timeout=0.1)
self.announceCV.release()
def main(text_to_say):
print "INITIALIZING SPEECH SYNTHESIS TEST..."
rospy.init_node("speech_syn")
pub_speech = rospy.Publisher("robotsound", SoundRequest, queue_size=10)
loop = rospy.Rate(2)
msg_speech = SoundRequest()
msg_speech.sound = -3
msg_speech.command = 1
msg_speech.volume = 1.0
msg_speech.arg2 = "voice_kal_diphone"
msg_speech.arg = text_to_say
loop.sleep()
print "Sending text to say: " + text_to_say
pub_speech.publish(msg_speech)
def sendMsg(self, snd, cmd, s, arg2="", vol=1.0):
msg = SoundRequest()
msg.sound = snd
if vol < 0:
msg.volume = 0
elif vol > 1.0:
msg.volume = 1.0
else:
msg.volume = vol
msg.command = cmd
msg.arg = s
msg.arg2 = arg2
self.pub.publish(msg)
if self.pub.get_num_connections() < 1:
rospy.logwarn("Sound command issued, but no node is subscribed to the topic. Perhaps you forgot to run soundplay_node.py?");
def commander(data):
print "You said: "+data.data
#now do sth with that data!
names = ['Peter', 'Harry', 'Tina', 'Scarlet', 'Forest', 'Kim', 'Filip', 'Matthew', 'Ellen']
objects = ['building']
streets = ['street']
colours = ['blue', 'yellow', 'green', 'red']
sentence = data.data
tokens = nltk.word_tokenize(sentence)
print "Tokens:\n"
print tokens
#first word is name
colour_building = None
colour_street = None
name = min_distance_one(tokens[0], names)
building = min_distance_all(tokens, objects)
if building[0] != None:
colour_building = min_distance_one(tokens[building[1]-1], colours)
street = min_distance_all(tokens, streets)
if street[0] != None:
colour_street = min_distance_one(tokens[street[1]-1], colours)
print "Mission Impossible: %s %s %s %s %s"%(name, colour_building, building[0], colour_street, street[0])
#send robot to the right street
rospy.Subscriber('move_base/status', GoalStatusArray, self.callback)
#this doesnt work the first time - nobody knows why???
str_speech = name + ", where would you like to go?"
print str_speech
tmp = SoundRequest()
tmp.sound = -3
tmp.command = 1
tmp.arg = str_speech
tmp.arg2 = ''
pub = rospy.Publisher('/robotsound', SoundRequest, queue_size=1)
pub.publish(tmp)
def callback_global_goal(msg):
voice = SoundRequest()
print "Calculatin path from robot pose to " + str(
[msg.pose.position.x, msg.pose.position.y])
clt_plan_path = rospy.ServiceProxy(
'/navigation/path_planning/a_star_search', GetPlan)
[robot_x, robot_y, robot_a] = get_robot_pose(listener)
req = GetPlanRequest()
req.start.pose.position.x = robot_x
req.start.pose.position.y = robot_y
req.goal.pose.position.x = msg.pose.position.x
req.goal.pose.position.y = msg.pose.position.y
path = clt_plan_path(req).plan
print "Following path with " + str(len(path.poses)) + " points..."
path = [[p.pose.position.x, p.pose.position.y] for p in path.poses]
follow_path(path)
print "Global goal point reached"
voice.sound = -3
voice.command = 1
voice.volume = 1.0
voice.arg = 'Ya llegue'
voice.arg2 = 'voice_el_diphone'
pub_voice.publish(voice)
def point_callback(data):
global pub_audio
global limbr
global liml
limbr = baxter_interface.Limb('right')
limbl = baxter_interface.Limb('left')
if data.x == 0 and data.y == 0 and data.z == 0:
rospy.loginfo("Point: got a stop command (all zeros)")
elif check_range([data.x, data.y, data.z]):
rospy.loginfo("Point: setting target to" + str(data))
limbr.move_to_joint_positions(point_joint_angles([data.x, data.y,
data.z]), threshold = 0.05)
rospy.sleep(5)
limbr.move_to_joint_positions(anglesr, threshold = 0.05)
#limb.move_to_joint_positions(angles) #blocking
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Quad is out of pointing range'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Point: target out of pointing range " + str(data))
def point_callback(data):
global pub_audio
global limbr
global liml
limbr = baxter_interface.Limb('right')
limbl = baxter_interface.Limb('left')
if data.x == 0 and data.y == 0 and data.z == 0:
rospy.loginfo("Point: got a stop command (all zeros)")
elif check_range([data.x, data.y, data.z]):
rospy.loginfo("Point: setting target to" + str(data))
limbr.move_to_joint_positions(point_joint_angles(
[data.x, data.y, data.z]),
threshold=0.05)
rospy.sleep(5)
limbr.move_to_joint_positions(anglesr, threshold=0.05)
#limb.move_to_joint_positions(angles) #blocking
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Quad is out of pointing range'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Point: target out of pointing range " + str(data))
def cmd_callback(data):
global juliaPos
rospy.loginfo("got " + data.data)
cmd = str(data.data).strip()
if cmd == "hello baxter":
rospy.loginfo("hello commander")
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Hello Human'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
#os.system("espeak -v en 'hello commander'") #speaker?
elif cmd == "point to the quad":
'''
if the quadrotor's positon is being published, its last known
position should be stored in quadPos. If quadPos is None, no
position has been reported.
'''
if quadPos:
t = rospy.get_rostime()
rospy.loginfo(str(t) + "," + str(lastPosTime))
if lastPosTime != 0 and t - lastPosTime < currentPositionMaxDuration:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I see the quad and am pointing to the quad'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
pub_cmd.publish(quadPos)
rospy.loginfo(
"Speech command: I see the quad and am pointing - sending command to point to "
+ pos_str(quadPos))
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I no longer can see the quad'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo(
"Speech command: I no longer can see the quad - last quad position is outdated: recorded at "
+ pos_str(quadPos) +
str(round((t - lastPosTime).to_sec(), 2)) + " seconds ago")
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not see the quad'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("No known quad location")
elif cmd == "turn on the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I do not know how to start quad")
elif cmd == "move your right arm to the side":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'moving my right arm to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "right_arm_side"
pub_arm.publish(amsg)
rospy.loginfo("Speech command: moving your right arm to the side")
elif cmd == "move your left arm to the side":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'moving my left arm to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "left_arm_side"
pub_arm.publish(amsg)
rospy.loginfo("Speech command: moving my left arm to the side")
elif cmd == "move both of your arms to the side":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'moving my arms to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "both_arms_side"
pub_arm.publish(amsg)
rospy.loginfo("Speech command: moving both of my arms to the side")
elif cmd == "tuck your arms":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'tucking my arms'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "True"
pub_tuck.publish(amsg)
rospy.loginfo("Speech command: tucking arms")
elif cmd == "untuck your arms":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'untucking my arms'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "False"
pub_tuck.publish(amsg)
rospy.loginfo("Speech command:untucking arms")
elif cmd == "raise the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("I do not know how to raise quad")
elif cmd == "lower the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I do not know how to lower quad")
elif cmd == "land the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I do not know how to land quad")
elif cmd == "turn off the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I do not know how to turn off quad")
elif cmd == "how are you":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I am fine'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I am fine")
elif cmd == "how are you doing":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I am fine'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I am fine")
elif "julia" in cmd:
t = rospy.get_rostime()
if havejulia and lastJuliaTime != 0 and t - lastJuliaTime < juliaPositionMaxDuration:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Julia is over there'
msg.arg2 = 'voice_kal_diphone'
pub_cmd.publish(juliaPos)
pub_audio.publish(msg)
rospy.sleep(2)
msg.arg = 'I am pointing at her'
pub_audio.publish(msg)
rospy.loginfo(
"Speech command: Julia is over there, pointing to her")
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I am having trouble with my vision and am not sure that I see Julia'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: Not sure I see Julia")
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I did not understand that command'
msg.arg2 = 'voice_kal_diphone'
rospy.loginfo("command " + cmd + " not understood")
def cmd_callback(data):
global juliaPos
rospy.loginfo("got " + data.data)
cmd = str(data.data).strip()
if cmd == "hello baxter":
rospy.loginfo("hello commander")
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Hello Human'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
#os.system("espeak -v en 'hello commander'") #speaker?
elif cmd == "point to the quad":
'''
if the quadrotor's positon is being published, its last known
position should be stored in quadPos. If quadPos is None, no
position has been reported.
'''
if quadPos:
t = rospy.get_rostime()
rospy.loginfo(str(t) + "," + str(lastPosTime))
if lastPosTime != 0 and t - lastPosTime < currentPositionMaxDuration:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I see the quad and am pointing to the quad'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
pub_cmd.publish(quadPos)
rospy.loginfo("Speech command: I see the quad and am pointing - sending command to point to " +
pos_str(quadPos))
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I no longer can see the quad'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I no longer can see the quad - last quad position is outdated: recorded at " +
pos_str(quadPos) + str(round((t - lastPosTime).to_sec(), 2))
+ " seconds ago")
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not see the quad'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("No known quad location")
elif cmd == "turn on the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I do not know how to start quad")
elif cmd == "move your right arm to the side":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'moving my right arm to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "right_arm_side"
pub_arm.publish(amsg)
rospy.loginfo("Speech command: moving your right arm to the side")
elif cmd == "move your left arm to the side":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'moving my left arm to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "left_arm_side"
pub_arm.publish(amsg)
rospy.loginfo("Speech command: moving my left arm to the side")
elif cmd == "move both of your arms to the side":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'moving my arms to the side'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "both_arms_side"
pub_arm.publish(amsg)
rospy.loginfo("Speech command: moving both of my arms to the side")
elif cmd == "tuck your arms":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'tucking my arms'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "True"
pub_tuck.publish(amsg)
rospy.loginfo("Speech command: tucking arms")
elif cmd == "untuck your arms":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'untucking my arms'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
amsg = String()
amsg.data = "False"
pub_tuck.publish(amsg)
rospy.loginfo("Speech command:untucking arms")
elif cmd == "raise the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("I do not know how to raise quad")
elif cmd == "lower the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I do not know how to lower quad")
elif cmd == "land the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I do not know how to land quad")
elif cmd == "turn off the quad":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I do not know how to do that'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I do not know how to turn off quad")
elif cmd == "how are you":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I am fine'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I am fine")
elif cmd == "how are you doing":
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I am fine'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: I am fine")
elif "julia" in cmd:
t = rospy.get_rostime()
if havejulia and lastJuliaTime != 0 and t - lastJuliaTime < juliaPositionMaxDuration:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'Julia is over there'
msg.arg2 = 'voice_kal_diphone'
pub_cmd.publish(juliaPos)
pub_audio.publish(msg)
rospy.sleep(2)
msg.arg = 'I am pointing at her'
pub_audio.publish(msg)
rospy.loginfo("Speech command: Julia is over there, pointing to her")
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I am having trouble with my vision and am not sure that I see Julia'
msg.arg2 = 'voice_kal_diphone'
pub_audio.publish(msg)
rospy.loginfo("Speech command: Not sure I see Julia")
else:
msg = SoundRequest()
msg.sound = -3
msg.command = 1
msg.arg = 'I did not understand that command'
msg.arg2 = 'voice_kal_diphone'
rospy.loginfo("command " + cmd + " not understood")
def do_speak(self, goal):
"""The action handler.
Note that although it responds to client after the audio play is
finished, a client can choose
not to wait by not calling ``SimpleActionClient.waite_for_result()``.
"""
self.goal_text = strip_tags(goal.text)
self.state_pub.publish(state=TTSState.SYNTHESIZING,
text=self.goal_text)
res = do_synthesize(goal)
rospy.loginfo('synthesizer returns: %s', res)
try:
res = json.loads(res.result)
except ValueError as err:
syn = 'Expecting JSON from synthesizer but got {}'.format(
res.result)
rospy.logerr('%s. Exception: %s', syn, err)
self.state_pub.publish(state=TTSState.ERROR, text=syn)
self.finish_with_result(syn)
return
if 'Audio File' in res:
audio_file = res['Audio File']
rospy.loginfo('Will play %s', audio_file)
mut_d = mutagen.File(audio_file)
self.length = mut_d.info.length
self.utterance_pub.publish(self.goal_text)
msg = SoundRequest()
# self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_ONCE, sound,
# vol=volume, **kwargs)
msg.sound = SoundRequest.PLAY_FILE
msg.volume = rospy.get_param("/flo_hum_vol")
msg.command = SoundRequest.PLAY_ONCE
msg.arg = audio_file
msg.arg2 = ""
goal = SoundRequestGoal()
goal.sound_request = msg
self.done = False
self.sound_client.send_goal(goal,
active_cb=self.sound_received,
feedback_cb=self.sound_fb,
done_cb=self.sound_done)
# self.result = audio_file
t_rate = rospy.Rate(10)
success = True
while not self.done:
if self.server.is_preempt_requested():
self.sound_client.cancel_goal()
self.server.set_preempted()
success = False
break
t_rate.sleep()
self.state_pub.publish(state=TTSState.WAITING)
if success:
self.finish_with_result('completed sound play in')
else:
rospy.logerr('No audio file in synthesize voice result')
self.state_pub.publish(state=TTSState.ERROR, text='no audio file')
self.finish_with_result('no audio file')
# -*- coding: utf-8 -*-
import actionlib
from collections import defaultdict
import os.path as osp
import math
import rospy
import pandas as pd
from sound_play.msg import SoundRequestAction
from sound_play.msg import SoundRequest, SoundRequestGoal
from power_msgs.msg import BatteryState
from diagnostic_msgs.msg import DiagnosticArray
rospy.init_node("battery_warning")
speak_client = actionlib.SimpleActionClient("/robotsound_jp",
SoundRequestAction)
waitEnough = speak_client.wait_for_server(rospy.Duration(10))
req = SoundRequest()
req.command = SoundRequest.PLAY_ONCE
req.sound = SoundRequest.SAY
req.arg = "おーい。きたがわ"
req.arg2 = "ja"
req.volume = 1.0
speak_client.send_goal(SoundRequestGoal(sound_request=req))
speak_client.wait_for_result(timeout=rospy.Duration(10))
