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Package Summary
| Tags | No category tags. |
| Version | 2.1.28 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_3rdparty.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-10 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The julius_ros package
Additional Links
No additional links.
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
julius_ros
ROS Interface for Julius speech recognition engine
Please see
- Source: Julius source code
- Japanese dictatoin kit:
- Up-to-date doc: New but incomplete documentation
- old doc: Old documentation
Create Workspace
mkdir -p catkin_ws/src
cd catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_3rdparty https://github.com/jsk-ros-pkg/jsk_3rdparty.git -y
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build julius_ros
source devel/setup.bash
GMM version
Usage
roslaunch julius_ros julius.launch
Getting Recognition Results
rostopic echo /speech_to_text/transcript[0]
かけ
---
たぬき
---
わかめ
---
Service
rosservice call /speech_recognition "vocabulary:
words: ['みそ', 'しょうゆ', 'とんこつ']
"
# speak one word in the list above
results:
transcript: ['\xe3\x81\xbf\xe3\x81\x9d', '\xe3\x81\x97\xe3\x82\x87\xe3\x81\x86\xe3\x82\x86', '\xe3\x81\xa8\xe3\x82\x93\xe3\x81\x93\xe3\x81\xa4']
confidence: [1.0, 0.0, 0.0]
Limitation (TODO)
- Only ‘ひらがな’ is supported for phoneme estimation.
- Only word list is supported.
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
DNN version
We use julius config file and DNN weights from OSDN.
For detail, please see julius/Makefile.dictation-kit
Usage
roslaunch julius_ros julius.launch dnn:=true
Getting Recognition Results
rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(lambda x: '\'%s\''%(x.decode('utf-8')), m.transcript))))" /speech_to_text
transcript: [' こんにちは 。', ' こんにちは あ 。', ' 今日 わ 。', ' こんにちは は 。', ' 今日 は 。']
---
Limitation
-
/audiotopic must be 1channel, 16bit, 16000Hz and wave format. - DNN is computed on the CPU.
- CPU usage is about 2% during non-speech and about 100% during speech.
CHANGELOG
Changelog for package julius_ros
2.1.28 (2023-07-24)
2.1.27 (2023-06-24)
- fix package.xml/CMakeLists.txt to supress catkin_lint errors (#479)
- Contributors: Kei Okada
2.1.26 (2023-06-14)
- add LICENSE files (#476)
- Contributors: Kei Okada
2.1.25 (2023-06-08)
- Pr/use sound themes freedesktop (#472)
- add test to check if ros node is loadable (#463)
- Contributors: Kei Okada, Koki Shinjo
2.1.24 (2021-07-26)
2.1.23 (2021-07-21)
- Add DNN version julius
(#259)
- Fix order of args in julius.launch
- Update README
- Do not use git-lfs and revert unnecessary change
- Add julius_ros test for DNN version
- Use audio port instead of microphone input
- Update README and julius.launch arg doc
- Use Julius config file in julius_ros
- Fix typo: input audio via port
- Contributors: Naoya Yamaguchi
2.1.22 (2021-06-10)
2.1.21 (2020-08-19)
2.1.20 (2020-08-07)
2.1.19 (2020-07-21)
- fix typo in julius_client.py (#203)
- add more arg options for julius.launch
(#144)
- add julius_output args
- add julius_args
- add args for device,channels,depth,sample_rate,format
- Contributors: Kei Okada, Shingo Kitagawa
2.1.18 (2020-07-20)
- Fix for noetic
(#200)
- julius_ros: fix for python3, specially str <-> bytes
- fix 2to3, with print, raise, exception
- use package.xml format 3 for package contains python depends
- Contributors: Kei Okada
2.1.17 (2020-04-16)
2.1.16 (2020-04-16)
2.1.15 (2019-12-12)
2.1.14 (2019-11-21)
- set SoundRequest.volume for kinetic (#173)
- Contributors: Kei OKada
2.1.13 (2019-07-10)
2.1.12 (2019-05-25)
2.1.11 (2018-08-29)
2.1.10 (2018-04-25)
2.1.9 (2018-04-24)
2.1.8 (2018-04-17)
2.1.7 (2018-04-09)
2.1.6 (2017-11-21)
2.1.5 (2017-11-20)
2.1.4 (2017-07-16)
- [julius_ros] set timeout to self.play_sound(self.start_signal) (#116)
- Contributors: Kanae Kochigami
2.1.3 (2017-07-07)
2.1.2 (2017-07-06)
2.1.1 (2017-07-05)
- [julius_ros] fix: missing deps julius-voxforge (#109)
- Contributors: Furushchev
2.1.0 (2017-07-02)
- [julius_ros] support grammatical recognition
(#102)
- [julius_ros] fix: initial vocabulary
- [julius_ros][julius_client.py] advertise service on grammar mode
- [julius_ros][julius.test] delay play audio 10 seconds
- [julius_ros] add missing deps
- [julius_ros] split grammar test
- [julius_ros] support grammar
- [julius_ros] update conf for grammar recognition [julius_ros] escape xml value before parse [julius_ros] update launch files [julius_ros] use machine tag by default [julius_ros] support respawn; minor fix [julius_ros][julius_grammar.launch] add argument for topic name of 'speech_to_text' [julius_ros] add command line tools to add grammar / vocabulary to julius engine [julius_ros][julius_client.py] add service to show julius engine status [julius_ros][julius_client.py] bugfix: INPUTONCHANGE WAIT [julius_ros][julius_client.py] cleanup change gram
- [julius_ros] Update julius to 4.4.2 / add ROS interface
(#99)
- add julius_ros package
- [julius_ros] add test
- Contributors: Furushchev, Yuki Furuta
2.0.20 (2017-05-09)
2.0.19 (2017-02-22)
2.0.18 (2016-10-28)
2.0.17 (2016-10-22)
2.0.16 (2016-10-17)
2.0.15 (2016-10-16)
2.0.14 (2016-03-20)
2.0.13 (2015-12-15)
2.0.12 (2015-11-26)
2.0.11 (2015-10-07 14:16)
2.0.10 (2015-10-07 12:47)
2.0.9 (2015-09-26)
2.0.8 (2015-09-15)
2.0.7 (2015-09-14)
2.0.6 (2015-09-08)
2.0.5 (2015-08-23)
2.0.4 (2015-08-18)
2.0.3 (2015-08-01)
2.0.2 (2015-06-29)
2.0.1 (2015-06-19 21:21)
2.0.0 (2015-06-19 10:41)
1.0.71 (2015-05-17)
1.0.70 (2015-05-08)
1.0.69 (2015-05-05 12:28)
1.0.68 (2015-05-05 09:49)
1.0.67 (2015-05-03)
1.0.66 (2015-04-03)
1.0.65 (2015-04-02)
1.0.64 (2015-03-29)
1.0.63 (2015-02-19)
1.0.62 (2015-02-17)
1.0.61 (2015-02-11)
1.0.60 (2015-02-03 10:12)
1.0.59 (2015-02-03 04:05)
1.0.58 (2015-01-07)
1.0.57 (2014-12-23)
1.0.56 (2014-12-17)
1.0.55 (2014-12-09)
1.0.54 (2014-11-15)
1.0.53 (2014-11-01)
1.0.52 (2014-10-23)
1.0.51 (2014-10-20 16:01)
1.0.50 (2014-10-20 01:50)
1.0.49 (2014-10-13)
1.0.48 (2014-10-12)
1.0.47 (2014-10-08)
1.0.46 (2014-10-03)
1.0.45 (2014-09-29)
1.0.44 (2014-09-26 09:17)
1.0.43 (2014-09-26 01:08)
1.0.42 (2014-09-25)
1.0.41 (2014-09-23)
1.0.40 (2014-09-19)
1.0.39 (2014-09-17)
1.0.38 (2014-09-13)
1.0.37 (2014-09-08)
1.0.36 (2014-09-01)
1.0.35 (2014-08-16)
1.0.34 (2014-08-14)
1.0.33 (2014-07-28)
1.0.32 (2014-07-26)
1.0.31 (2014-07-23)
1.0.30 (2014-07-15)
1.0.29 (2014-07-02)
1.0.28 (2014-06-24)
1.0.27 (2014-06-10)
1.0.26 (2014-05-30)
1.0.25 (2014-05-26)
1.0.24 (2014-05-24)
1.0.23 (2014-05-23)
1.0.22 (2014-05-22)
1.0.21 (2014-05-20)
1.0.20 (2014-05-09)
1.0.19 (2014-05-06)
1.0.18 (2014-05-04)
1.0.17 (2014-04-20)
1.0.16 (2014-04-19 23:29)
1.0.15 (2014-04-19 20:19)
1.0.14 (2014-04-19 12:52)
1.0.13 (2014-04-19 11:06)
1.0.12 (2014-04-18 16:58)
1.0.11 (2014-04-18 08:18)
1.0.10 (2014-04-17)
1.0.9 (2014-04-12)
1.0.8 (2014-04-11)
1.0.7 (2014-04-10)
1.0.6 (2014-04-07)
1.0.5 (2014-03-31)
1.0.4 (2014-03-29)
1.0.3 (2014-03-19)
1.0.2 (2014-03-12)
1.0.1 (2014-03-07)
1.0.0 (2014-03-05)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| audio_capture | |
| audio_common_msgs | |
| julius | |
| rospy | |
| sound_play | |
| speech_recognition_msgs | |
| std_srvs | |
| rostest |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| jsk_3rdparty |
Launch files
- launch/julius_grammar.launch
-
- conf_file [default: $(find julius_ros)/conf/grammar.jconf]
- hmm_def_file [default: /usr/share/julius-voxforge/acoustic/hmmdefs]
- hmm_list_file [default: /usr/share/julius-voxforge/acoustic/tiedlist]
- gram_path [default: $(find julius_ros)/data/udon]
- module_port [default: 10500]
- audio_port [default: 10501]
- max_connection_retry [default: 0]
- respawn [default: true]
- launch_audio_capture [default: true]
- launch_sound_play [default: true]
- sound_play_topic [default: sound_play]
- speech_to_text_topic [default: speech_to_text]
- machine [default: localhost]
- use_machine [default: true]
- launch/julius.launch
-
- conf_file [default: $(find julius_ros)/conf/main.jconf] — Common Julius config file for DNN version and GMM version. Other configs are specified in the args of run_julius.sh
- module_port [default: 10500] — Port number when julius is started in module mode.
- audio_port [default: 10501] — Port number for outputting audio to julius module.
- max_connection_retry [default: 0] — Maximum number of times to try to connect to the server; if 0, it will try forever.
- default_threshold [default: 0.9] — Threshold for judging the recognition result as correct
- start_signal_action_timeout [default: 0.3] — Timeout[s] for sounding start signal
- dnn [default: false] — set true if you use DNN version julius
- hmm_list_file [default: $(find julius)/model/dnn/logicalTri.bin] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
- hmm_def_file [default: $(find julius)/model/dnn/binhmm.SID] — HTK's HMM definition file containing all the phoneme definitions in one place
- bingram_file [default: $(find julius)/model/lang_m/bccwj.60k.bingram] — Binary N-gram file (Language model file)
- htkdic_file [default: $(find julius)/model/lang_m/bccwj.60k.pdp.htkdic] — Pronunciation dictionary for language models
- dnn_julius_file [default: $(find julius)/julius.dnnconf] — Feature conversion configuration file for DNN (Julius alone) version
- hmm_def_file [default: $(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs] — HTK's HMM definition file containing all the phoneme definitions in one place
- hmm_list_file [default: $(find julius)/model/phone_m/logicalTri] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
- word_file [default: $(find julius_ros)/data/udon.dic] — Word dictionary file (pronunciation dictionary file)
- respawn [default: false]
- launch_audio_capture [default: true]
- launch_sound_play [default: true]
- sound_play_topic [default: sound_play]
- speech_to_text_topic [default: speech_to_text]
- machine [default: localhost]
- use_machine [default: true]
- device [default: ] — device path, for example plughw:2,0
- format [default: wave]
- channels [default: 1]
- depth [default: 16]
- sample_rate [default: 16000]
- julius_args [default: ] — set -debug to turn on julius debug
- julius_output [default: log]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged julius_ros at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
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|
Package Summary
| Tags | No category tags. |
| Version | 2.1.28 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_3rdparty.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-10 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The julius_ros package
Additional Links
No additional links.
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
julius_ros
ROS Interface for Julius speech recognition engine
Please see
- Source: Julius source code
- Japanese dictatoin kit:
- Up-to-date doc: New but incomplete documentation
- old doc: Old documentation
Create Workspace
mkdir -p catkin_ws/src
cd catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_3rdparty https://github.com/jsk-ros-pkg/jsk_3rdparty.git -y
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build julius_ros
source devel/setup.bash
GMM version
Usage
roslaunch julius_ros julius.launch
Getting Recognition Results
rostopic echo /speech_to_text/transcript[0]
かけ
---
たぬき
---
わかめ
---
Service
rosservice call /speech_recognition "vocabulary:
words: ['みそ', 'しょうゆ', 'とんこつ']
"
# speak one word in the list above
results:
transcript: ['\xe3\x81\xbf\xe3\x81\x9d', '\xe3\x81\x97\xe3\x82\x87\xe3\x81\x86\xe3\x82\x86', '\xe3\x81\xa8\xe3\x82\x93\xe3\x81\x93\xe3\x81\xa4']
confidence: [1.0, 0.0, 0.0]
Limitation (TODO)
- Only ‘ひらがな’ is supported for phoneme estimation.
- Only word list is supported.
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
DNN version
We use julius config file and DNN weights from OSDN.
For detail, please see julius/Makefile.dictation-kit
Usage
roslaunch julius_ros julius.launch dnn:=true
Getting Recognition Results
rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(lambda x: '\'%s\''%(x.decode('utf-8')), m.transcript))))" /speech_to_text
transcript: [' こんにちは 。', ' こんにちは あ 。', ' 今日 わ 。', ' こんにちは は 。', ' 今日 は 。']
---
Limitation
-
/audiotopic must be 1channel, 16bit, 16000Hz and wave format. - DNN is computed on the CPU.
- CPU usage is about 2% during non-speech and about 100% during speech.
CHANGELOG
Changelog for package julius_ros
2.1.28 (2023-07-24)
2.1.27 (2023-06-24)
- fix package.xml/CMakeLists.txt to supress catkin_lint errors (#479)
- Contributors: Kei Okada
2.1.26 (2023-06-14)
- add LICENSE files (#476)
- Contributors: Kei Okada
2.1.25 (2023-06-08)
- Pr/use sound themes freedesktop (#472)
- add test to check if ros node is loadable (#463)
- Contributors: Kei Okada, Koki Shinjo
2.1.24 (2021-07-26)
2.1.23 (2021-07-21)
- Add DNN version julius
(#259)
- Fix order of args in julius.launch
- Update README
- Do not use git-lfs and revert unnecessary change
- Add julius_ros test for DNN version
- Use audio port instead of microphone input
- Update README and julius.launch arg doc
- Use Julius config file in julius_ros
- Fix typo: input audio via port
- Contributors: Naoya Yamaguchi
2.1.22 (2021-06-10)
2.1.21 (2020-08-19)
2.1.20 (2020-08-07)
2.1.19 (2020-07-21)
- fix typo in julius_client.py (#203)
- add more arg options for julius.launch
(#144)
- add julius_output args
- add julius_args
- add args for device,channels,depth,sample_rate,format
- Contributors: Kei Okada, Shingo Kitagawa
2.1.18 (2020-07-20)
- Fix for noetic
(#200)
- julius_ros: fix for python3, specially str <-> bytes
- fix 2to3, with print, raise, exception
- use package.xml format 3 for package contains python depends
- Contributors: Kei Okada
2.1.17 (2020-04-16)
2.1.16 (2020-04-16)
2.1.15 (2019-12-12)
2.1.14 (2019-11-21)
- set SoundRequest.volume for kinetic (#173)
- Contributors: Kei OKada
2.1.13 (2019-07-10)
2.1.12 (2019-05-25)
2.1.11 (2018-08-29)
2.1.10 (2018-04-25)
2.1.9 (2018-04-24)
2.1.8 (2018-04-17)
2.1.7 (2018-04-09)
2.1.6 (2017-11-21)
2.1.5 (2017-11-20)
2.1.4 (2017-07-16)
- [julius_ros] set timeout to self.play_sound(self.start_signal) (#116)
- Contributors: Kanae Kochigami
2.1.3 (2017-07-07)
2.1.2 (2017-07-06)
2.1.1 (2017-07-05)
- [julius_ros] fix: missing deps julius-voxforge (#109)
- Contributors: Furushchev
2.1.0 (2017-07-02)
- [julius_ros] support grammatical recognition
(#102)
- [julius_ros] fix: initial vocabulary
- [julius_ros][julius_client.py] advertise service on grammar mode
- [julius_ros][julius.test] delay play audio 10 seconds
- [julius_ros] add missing deps
- [julius_ros] split grammar test
- [julius_ros] support grammar
- [julius_ros] update conf for grammar recognition [julius_ros] escape xml value before parse [julius_ros] update launch files [julius_ros] use machine tag by default [julius_ros] support respawn; minor fix [julius_ros][julius_grammar.launch] add argument for topic name of 'speech_to_text' [julius_ros] add command line tools to add grammar / vocabulary to julius engine [julius_ros][julius_client.py] add service to show julius engine status [julius_ros][julius_client.py] bugfix: INPUTONCHANGE WAIT [julius_ros][julius_client.py] cleanup change gram
- [julius_ros] Update julius to 4.4.2 / add ROS interface
(#99)
- add julius_ros package
- [julius_ros] add test
- Contributors: Furushchev, Yuki Furuta
2.0.20 (2017-05-09)
2.0.19 (2017-02-22)
2.0.18 (2016-10-28)
2.0.17 (2016-10-22)
2.0.16 (2016-10-17)
2.0.15 (2016-10-16)
2.0.14 (2016-03-20)
2.0.13 (2015-12-15)
2.0.12 (2015-11-26)
2.0.11 (2015-10-07 14:16)
2.0.10 (2015-10-07 12:47)
2.0.9 (2015-09-26)
2.0.8 (2015-09-15)
2.0.7 (2015-09-14)
2.0.6 (2015-09-08)
2.0.5 (2015-08-23)
2.0.4 (2015-08-18)
2.0.3 (2015-08-01)
2.0.2 (2015-06-29)
2.0.1 (2015-06-19 21:21)
2.0.0 (2015-06-19 10:41)
1.0.71 (2015-05-17)
1.0.70 (2015-05-08)
1.0.69 (2015-05-05 12:28)
1.0.68 (2015-05-05 09:49)
1.0.67 (2015-05-03)
1.0.66 (2015-04-03)
1.0.65 (2015-04-02)
1.0.64 (2015-03-29)
1.0.63 (2015-02-19)
1.0.62 (2015-02-17)
1.0.61 (2015-02-11)
1.0.60 (2015-02-03 10:12)
1.0.59 (2015-02-03 04:05)
1.0.58 (2015-01-07)
1.0.57 (2014-12-23)
1.0.56 (2014-12-17)
1.0.55 (2014-12-09)
1.0.54 (2014-11-15)
1.0.53 (2014-11-01)
1.0.52 (2014-10-23)
1.0.51 (2014-10-20 16:01)
1.0.50 (2014-10-20 01:50)
1.0.49 (2014-10-13)
1.0.48 (2014-10-12)
1.0.47 (2014-10-08)
1.0.46 (2014-10-03)
1.0.45 (2014-09-29)
1.0.44 (2014-09-26 09:17)
1.0.43 (2014-09-26 01:08)
1.0.42 (2014-09-25)
1.0.41 (2014-09-23)
1.0.40 (2014-09-19)
1.0.39 (2014-09-17)
1.0.38 (2014-09-13)
1.0.37 (2014-09-08)
1.0.36 (2014-09-01)
1.0.35 (2014-08-16)
1.0.34 (2014-08-14)
1.0.33 (2014-07-28)
1.0.32 (2014-07-26)
1.0.31 (2014-07-23)
1.0.30 (2014-07-15)
1.0.29 (2014-07-02)
1.0.28 (2014-06-24)
1.0.27 (2014-06-10)
1.0.26 (2014-05-30)
1.0.25 (2014-05-26)
1.0.24 (2014-05-24)
1.0.23 (2014-05-23)
1.0.22 (2014-05-22)
1.0.21 (2014-05-20)
1.0.20 (2014-05-09)
1.0.19 (2014-05-06)
1.0.18 (2014-05-04)
1.0.17 (2014-04-20)
1.0.16 (2014-04-19 23:29)
1.0.15 (2014-04-19 20:19)
1.0.14 (2014-04-19 12:52)
1.0.13 (2014-04-19 11:06)
1.0.12 (2014-04-18 16:58)
1.0.11 (2014-04-18 08:18)
1.0.10 (2014-04-17)
1.0.9 (2014-04-12)
1.0.8 (2014-04-11)
1.0.7 (2014-04-10)
1.0.6 (2014-04-07)
1.0.5 (2014-03-31)
1.0.4 (2014-03-29)
1.0.3 (2014-03-19)
1.0.2 (2014-03-12)
1.0.1 (2014-03-07)
1.0.0 (2014-03-05)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| audio_capture | |
| audio_common_msgs | |
| julius | |
| rospy | |
| sound_play | |
| speech_recognition_msgs | |
| std_srvs | |
| rostest |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| jsk_3rdparty |
Launch files
- launch/julius_grammar.launch
-
- conf_file [default: $(find julius_ros)/conf/grammar.jconf]
- hmm_def_file [default: /usr/share/julius-voxforge/acoustic/hmmdefs]
- hmm_list_file [default: /usr/share/julius-voxforge/acoustic/tiedlist]
- gram_path [default: $(find julius_ros)/data/udon]
- module_port [default: 10500]
- audio_port [default: 10501]
- max_connection_retry [default: 0]
- respawn [default: true]
- launch_audio_capture [default: true]
- launch_sound_play [default: true]
- sound_play_topic [default: sound_play]
- speech_to_text_topic [default: speech_to_text]
- machine [default: localhost]
- use_machine [default: true]
- launch/julius.launch
-
- conf_file [default: $(find julius_ros)/conf/main.jconf] — Common Julius config file for DNN version and GMM version. Other configs are specified in the args of run_julius.sh
- module_port [default: 10500] — Port number when julius is started in module mode.
- audio_port [default: 10501] — Port number for outputting audio to julius module.
- max_connection_retry [default: 0] — Maximum number of times to try to connect to the server; if 0, it will try forever.
- default_threshold [default: 0.9] — Threshold for judging the recognition result as correct
- start_signal_action_timeout [default: 0.3] — Timeout[s] for sounding start signal
- dnn [default: false] — set true if you use DNN version julius
- hmm_list_file [default: $(find julius)/model/dnn/logicalTri.bin] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
- hmm_def_file [default: $(find julius)/model/dnn/binhmm.SID] — HTK's HMM definition file containing all the phoneme definitions in one place
- bingram_file [default: $(find julius)/model/lang_m/bccwj.60k.bingram] — Binary N-gram file (Language model file)
- htkdic_file [default: $(find julius)/model/lang_m/bccwj.60k.pdp.htkdic] — Pronunciation dictionary for language models
- dnn_julius_file [default: $(find julius)/julius.dnnconf] — Feature conversion configuration file for DNN (Julius alone) version
- hmm_def_file [default: $(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs] — HTK's HMM definition file containing all the phoneme definitions in one place
- hmm_list_file [default: $(find julius)/model/phone_m/logicalTri] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
- word_file [default: $(find julius_ros)/data/udon.dic] — Word dictionary file (pronunciation dictionary file)
- respawn [default: false]
- launch_audio_capture [default: true]
- launch_sound_play [default: true]
- sound_play_topic [default: sound_play]
- speech_to_text_topic [default: speech_to_text]
- machine [default: localhost]
- use_machine [default: true]
- device [default: ] — device path, for example plughw:2,0
- format [default: wave]
- channels [default: 1]
- depth [default: 16]
- sample_rate [default: 16000]
- julius_args [default: ] — set -debug to turn on julius debug
- julius_output [default: log]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.