def checkNodeExistence(stat):
global nodes, speak_text
result = {}
have_dead = False
for n in nodes:
res = ping(n, max_count=1, verbose=False)
result[n] = res
if not res:
have_dead = True
if have_dead:
stat.summary(
diagnostic_msgs.msg.DiagnosticStatus.ERROR, "dead nodes: " +
", ".join([n for (n, res) in result.items() if not res]))
if speak:
sound = SoundRequest()
sound.sound = SoundRequest.SAY
sound.command = SoundRequest.PLAY_ONCE
if speak_text:
sound.arg = speak_text
else:
sound.arg = " ".join(nodes).replace("/", "").replace(
"_", " ") + " is dead"
g_robotsound_pub.publish(sound)
else:
stat.summary(diagnostic_msgs.msg.DiagnosticStatus.OK,
"every node is alive")
for n, res in result.items():
stat.add(n, res)
return stat
def checkNodeExistence(stat):
global nodes, speak_text
result = {}
have_dead = False
for n in nodes:
res = ping(n, max_count=1, verbose=False)
result[n] = res
if not res:
have_dead = True
if have_dead:
stat.summary(
diagnostic_msgs.msg.DiagnosticStatus.ERROR, "dead nodes: " +
", ".join([n for (n, res) in result.items() if not res]))
if speak:
sound = SoundRequest()
sound.sound = SoundRequest.SAY
sound.command = SoundRequest.PLAY_ONCE
if hasattr(
SoundRequest, 'volume'
): # volume is added from 0.3.0 https://github.com/ros-drivers/audio_common/commit/da9623414f381642e52f59701c09928c72a54be7#diff-fe2d85580f1ccfed4e23a608df44a7f7
sound.volume = 1.0
if speak_text:
sound.arg = speak_text
else:
sound.arg = " ".join(nodes).replace("/", "").replace(
"_", " ") + " is dead"
g_robotsound_pub.publish(sound)
else:
stat.summary(diagnostic_msgs.msg.DiagnosticStatus.OK,
"every node is alive")
for n, res in result.items():
stat.add(n, res)
return stat
def speak(self, speak_str):
rospy.logerr("[%s] %s", self.__class__.__name__, speak_str)
if self.speak_enabled:
msg = SoundRequest()
msg.sound = SoundRequest.SAY
msg.command = SoundRequest.PLAY_ONCE
msg.arg = speak_str
self.speak_pub.publish(msg)
def say(self, text_msg):
msg = SoundRequest()
msg.sound = SoundRequest.SAY
msg.command = SoundRequest.PLAY_START
msg.arg = text_msg
self.sound_pub.publish(msg)
time.sleep(2)
def trig():
g_odom_init_trigger_pub.publish(Empty())
# Say something
sound = SoundRequest()
sound.sound = SoundRequest.SAY
sound.command = SoundRequest.PLAY_ONCE
sound.arg = "Robot stans on the ground."
g_robotsound_pub.publish(sound)
def __init__(self, *args):
super(self.__class__, self).__init__(*args)
rospy.init_node(NAME)
self.lock_for_msg = threading.Lock()
self.msg = SoundRequest()
self.action_server = \
actionlib.SimpleActionServer( '/sound_play', SoundRequestAction, execute_cb=self.handler, auto_start=False)
self.action_server.start()
def speak(string):
global speak_pub
rospy.logerr(string)
msg = SoundRequest()
msg.sound = SoundRequest.SAY
msg.command = SoundRequest.PLAY_ONCE
msg.arg = string
speak_pub.publish(msg)
def main():
global bumper
global direction
print("Initialisation")
rospy.init_node('scenario')
rospy.sleep(0.5)
rospy.Subscriber("/mobile_base/events/bumper", BumperEvent, bumper)
pub1 = rospy.Publisher("/mobile_base/commands/velocity", Twist)
pub2 = rospy.Publisher("/robotsound", SoundRequest)
pub3 = rospy.Publisher("/mobile_base/commands/sound", Sound)
cmd = Twist()
sound = SoundRequest()
bip = Sound()
sound.arg = "/opt/ros/indigo/share/sound_play/sounds/R2D2a.wav"
sound.sound = -2
sound.command = 1
bip.value = 4
while not rospy.is_shutdown():
duree = 1 + random.random() * 5
tempsActuel = rospy.get_time()
stop = rospy.get_time() + duree
while (rospy.get_time() < stop):
if bumper == 0:
cmd.linear.x = 0
cmd.angular.z = 0
pub2.publish(sound)
rospy.sleep(0.5)
pub1.publish(cmd)
rospy.sleep(5)
cmd.linear.x = -0.2
cmd.angular.z = -2
cmd.angular.z = -2
pub1.publish(cmd)
rospy.sleep(0.5)
bumper == 3
elif bumper == 1:
cmd.linear.x = -0.2
pub1.publish(cmd)
pub3.publish(bip)
rospy.sleep(0.5)
bumper == 3
elif bumper == 2:
cmd.linear.x = 0
cmd.angular.z = 2
pub1.publish(cmd)
rospy.sleep(0.5)
bumper == 3
else:
cmd.linear.x = 0.2
cmd.angular.z = 0
pub1.publish(cmd)
if bumper > 2:
bumper = math.floor(random.random() * 10)
print("The End")
rospy.spin()
def play_sound(self, key, timeout=5.0):
if self.act_sound is None:
return
req = SoundRequest()
req.sound = SoundRequest.PLAY_FILE
req.command = SoundRequest.PLAY_ONCE
req.arg = self.signals[key]
goal = SoundRequestGoal(sound_request=req)
self.act_sound.send_goal_and_wait(goal, rospy.Duration(timeout))
def play_sound(self):
req = SoundRequest()
req.sound = 3
req.command = 1
req.volume = 1.
self.sound_pub.publish(req)
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 decir(oracion):
voice = SoundRequest()
voice.sound = -3
voice.command = 1
voice.volume = 1.0
voice.arg = oracion
#voice.arg2='voice_el_diphone'
pub_voice.publish(voice)
def bumper_callback(msg):
if msg.data == True:
sound_msg = SoundRequest()
sound_msg.sound = -2
# play file
sound_msg.command = 1
# play once
sound_msg.arg = sound_file
sound_pub.publish(sound_msg)
def beep(self, key, blocking=False, **kwargs):
"""Play one of the beeps and boops that we know of"""
if not key or key.upper() not in self.beeps:
return
sound = SoundRequest()
sound.sound = SoundRequest.PLAY_FILE
sound.command = SoundRequest.PLAY_ONCE
sound.arg = self.beeps[key.upper()]
self._play(sound, blocking=blocking, **kwargs)
def speak_result(self, result):
if self.sound_action is None:
return
msg = SoundRequest(command=SoundRequest.PLAY_ONCE,
sound=SoundRequest.SAY,
volume=1.0,
arg=result.fulfillment_text.encode('utf-8'),
arg2=self.language)
self.sound_action.send_goal_and_wait(
SoundRequestGoal(sound_request=msg), rospy.Duration(10.0))
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 sendMsg(self, snd, cmd, s):
msg = SoundRequest()
msg.sound = snd
msg.command = cmd
msg.arg = s
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 trig():
global is_servo_on
g_odom_init_trigger_pub.publish(Empty())
if is_servo_on is False:
return
# Say something
sound = SoundRequest()
sound.sound = SoundRequest.SAY
sound.command = SoundRequest.PLAY_ONCE
sound.arg = "Robot stands on the ground."
g_robotsound_pub.publish(sound)
def stop(self):
"""Stop all sounds"""
self.sound_client.cancel_all_goals()
# Send a stop request
sound = SoundRequest()
sound.sound = SoundRequest.ALL
sound.command = SoundRequest.PLAY_STOP
sound.arg = ""
self._play(sound, blocking=True)
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():
global bumper
print("Lancement navigation aleatoire")
rospy.init_node('navigation_aleatoire')
rospy.sleep(0.5)
rospy.Subscriber("/mobile_base/events/bumper", BumperEvent, bumper)
pub = rospy.Publisher("/mobile_base/commands/velocity", Twist)
pub2 = rospy.Publisher("/robotsound", SoundRequest)
pub3 = rospy.Publisher("/mobile_base/commands/sound", Sound)
cmd = Twist()
sound = SoundRequest()
sonnerie = Sound()
sound.arg = "/opt/ros/indigo/share/sound_play/sounds/R2D2a.wav"
sound.sound = -2
sound.command = 1
sonnerie.value = 4
while not rospy.is_shutdown():
duree = 1 + random.random() * 5
tempsActuel = rospy.get_time()
stop = rospy.get_time() + duree
while (rospy.get_time() < stop):
if bumper == 0:
cmd.linear.x = 0
cmd.angular.z = -2
pub.publish(cmd)
rospy.sleep(0.5)
bumper = 3
elif bumper == 1:
cmd.linear.x = -0.2
cmd.angular.z = 0
pub.publish(cmd)
pub2.publish(sound)
rospy.sleep(0.5)
bumper = 3
elif bumper == 2:
cmd.linear.x = 0
cmd.angular.z = 2
pub.publish(cmd)
rospy.sleep(0.5)
bumper = 3
else:
cmd.linear.x = 0.2
cmd.angular.z = 0
pub.publish(cmd)
if bumper > 2:
bumper = math.floor(random.random() * 10)
print(sound)
print("fin navigation autonome")
rospy.spin() #boucle infinie tant qu'on quitte pas proprement
def trig():
global is_servo_on
g_odom_init_trigger_pub.publish(Empty())
if is_servo_on is False:
return
# Say something
sound = SoundRequest()
sound.sound = SoundRequest.SAY
sound.command = SoundRequest.PLAY_ONCE
if hasattr(SoundRequest, 'volume'): # volume is added from 0.3.0 https://github.com/ros-drivers/audio_common/commit/da9623414f381642e52f59701c09928c72a54be7#diff-fe2d85580f1ccfed4e23a608df44a7f7
sound.volume = 1.0
sound.arg = "Robot stands on the ground."
g_robotsound_pub.publish(sound)
def execute(self, userdata):
if not self.init:
self.init = True
self.pub = rospy.Publisher('robotsound', SoundRequest)
rospy.sleep(1.0)
self.pub.publish(SoundRequest(-3, 1, 'Ready to Move'))
ui = ''
while not (ui == '0' or ui == '1'):
print '\'0\' or \'1\' when Ready.'
ui = raw_input()
return 'succeeded'
def play_sound(self, path, timeout=5.0):
if self.act_sound is None:
return
req = SoundRequest()
req.sound = SoundRequest.PLAY_FILE
req.command = SoundRequest.PLAY_ONCE
if hasattr(
SoundRequest, 'volume'
): # volume is added from 0.3.0 https://github.com/ros-drivers/audio_common/commit/da9623414f381642e52f59701c09928c72a54be7#diff-fe2d85580f1ccfed4e23a608df44a7f7
sound.volume = 1.0
req.arg = path
goal = SoundRequestGoal(sound_request=req)
self.act_sound.send_goal_and_wait(goal, rospy.Duration(timeout))
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 say(self, text, affect="", blocking=False, **kwargs):
"""Perform TTS using SSML"""
# Transform the text if the affect argument calls for it
if affect and affect.upper() in self.affects.keys():
text = self.affects[affect.upper()](text)
# Create the vars for the SSML query
text = SoundClient.SSML_TEMPLATE.format(speech=text)
query_dict = {
'INPUT_TEXT': text,
'INPUT_TYPE': 'SSML',
'LOCALE': 'en_GB',
'VOICE': 'dfki-prudence-hsmm',
'OUTPUT_TYPE': 'AUDIO',
'AUDIO': 'WAVE',
# 'effect_Robot_selected': 'on',
# 'effect_Robot_parameters': 'amount:60.0',
}
# Send a request to MARY and check the response type
r = requests.post(SoundClient.MARY_SERVER_URL,
params=query_dict,
timeout=SoundClient.MARY_SERVER_TIMEOUT)
if r.headers['content-type'] != 'audio/x-wav':
rospy.logerr("Response Error Code: {}. Content-Type: {}".format(
r.status_code, r.headers['content-type']))
raise ValueError("Incorrect Content Type",
r.headers['content-type'], r.status_code)
# Increase the volume on the temp file
speech = AudioSegment(data=r.content)
speech = speech + SoundClient.SPEECH_GAIN_DB
speech = SoundClient.change_audio_speed(speech, 0.95)
speech = speech.set_frame_rate(int(speech.frame_rate * 2.0))
# Write the wav data to a temp file
speech_filename = create_temp_filename(prefix='marytts', suffix='.wav')
with open(speech_filename, 'wb') as fd:
speech.export(speech_filename, format='wav')
# Now send the file's name over to sound play
sound = SoundRequest()
sound.sound = SoundRequest.PLAY_FILE
sound.command = SoundRequest.PLAY_ONCE
sound.arg = speech_filename
self._play(sound, blocking=blocking, **kwargs)
# Send the file to the cleanup thread now
self._tmp_speech_files.put(speech_filename)
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 say(self, text, is_using_sounds=False):
'''Send a TTS (text to speech) command.
This will cause the robot to verbalize text if not
is_using_sounds. It will always display text in Rviz.
Args:
text (str): The speech to say / vizualize.
is_using_sounds (bool): Whether the robot is beeping and
booping (if True), which determines whether to actually
speak the words (only if False).
'''
if not is_using_sounds:
self.speech_publisher.publish(SoundRequest(
command=SoundRequest.SAY, arg=text))
self.say_in_rviz(text)
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)
