ros_speech_recognition

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

Tutorials

Normal tutorial

1. Install this package and SpeechReconition

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

1. Launch speech recognition node

  roslaunch ros_speech_recognition speech_recognition.launch
  

1. Echo /speech_to_text

  rostopic echo /speech_to_text
  # you can get the recognition result
  

Parrotry tutorial

Parrotry mean オウム返し in Japanese

# english
roslaunch ros_speech_recognition parrotry.launch
# japanese
roslaunch ros_speech_recognition parrotry.launch language:=ja-JP

speech_recognition_node.py Interface

Publishing Topics

• ~voice_topic (speech_recognition_msgs/SpeechRecognitionCandidates)

  Speech recognition candidates topic name.

  Topic name is set by parameter ~voice_topic, and default value is speech_to_text.

• sound_play (sound_play/SoundRequestAction)

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

Subscribing Topics

• ~audio_topic (audio_common_msgs/AudioData)

  Audio stream data to be recognized.

  Topis name is set by parameter ~audio_topic and default value is audio.

Advertising Services

• speech_recognition (speech_recognition_msgs/SpeechRecognition)

  Service for speech recognition

• speech_recognition/start (std_srvs/Empty)

  Start service for speech recognition

  This service is available when parameter ~contiunous is True.

• speech_recognition/start (std_srvs/Empty)

  Stop service for speech recognition

  This service is available when parameter ~contiunous is True.

Parameters

• ~voice_topic (String, default: speech_to_text)

  Publishing voice topic name

• ~audio_topic (String, default: audio)

  Subscribing audio topic name

• ~enable_sound_effect (Bool, default: True)

  Flag to enable or disable sound to play sound on recognition.

• ~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

• ~listen_timeout (Double, default: 0.0)

  The maximum number of seconds that this will wait for a phrase to start before giving up

• ~phrase_time_limit (Double, default: 10.0)

  The maximum number of seconds that this will allow a phrase to continue before stopping and returning the part of the phrase processed before the time limit was reached

• ~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

• ~duration (Double, default: 10.0)

  Seconds of waiting for speech

• ~depth (Int, default: 16)

  Depth of audio signal

• ~n_channel (Int, default: 1)

  Total number of channels in audio data (e.g. 1: mono, 2: stereo)

• ~sample_rate (Int, default: 16000)

  Sample rate of audio signal

• ~buffer_size (Int, default: 10240)

  Maximum buffer size to store audio data for speech recognition

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

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

• ~recognized_signal (String, default: /usr/share/sounds/freedesktop/stereo/message.ogg)

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

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

  Path to sound file for bell on getting successful recognition result

• ~timeout_signal (String, default: /usr/share/sounds/freedesktop/stereo/network-connectivity-lost.ogg)

  Path to sound file for bell on timeout for recognition

• ~continuous (Bool, default: False)

  Selecting to use topic or service. By default, service is used.

• ~auto_start (Bool, default: True)

  Starting the speech recognition when launching.

• ~self_cancellation (Bool, default: True)

  Whether the node recognize the sound heard when ~tts_action_names is running or not.

  This options is for ignoring self voice sounds from recognition.

• ~tts_action_names (List[String], default: ['sound_play'])

  Text-to-speech action name for self cancellation.

  The node ignores the voice heard when these Text-to-speech action is running.

• ~tts_tolerance (Float, default: 1.0)

  Tolerance seconds for self cancellation.

  The node ignores the voice with this tolerance seconds after ~tts_action_names finish running.

• ~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. For JSK users, you can download from Google Drive link. 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.

• ~vosk_model_path (String, default: None)

  Path to trainded model for Vosk API. This is valid only if ~engine is Vosk.

  If en-US or ja is selected as ~language, you do not need to specify the path. To load other models, please download them from Model list.

Author

Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»

Changelog for package ros_speech_recognition

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)

• [ros_speech_recognition] Add vosk engine (#474)
• Pr/use sound themes freedesktop (#472)
• add test to check if ros node is loadable (#463)
• add self.conf_thresh in __init_ function (#457)
• [ros_speech_recognition] add ubuntu-sounds dependency (#453)
• [ros_speech_recognition] Return if result is empty (#443)
• [ros_speece_recognition] Set confidence value of google (#434)
• [ros_speech_recognition] add parrotry.launch (#414)
• [ros_ speech_recognition] update default arg for speech_recognition.launch (#412)
• [ros_speech_recogniton, respeaker_ros] add confidence field (#411)
• [ros_speech_recognition] add self cancellation for speech recogntion (#413)
• [#405 and #410] Fix CI (#415)
• add ROS interface for https://cloud.google.com/natural-language (#304)
• GithubAction: add test for aarch64(melodic) / indigo (arm64) (#365)
  • pgm_learner/respeaker_ros/ros_speech_recognition/rosping: increase time-limit/wait-time
• Explicit python interpreter in catkin_virtualenv (#367)
• .github/workflow: integrate all yaml to one (#338)
• [ros_speech_recognition] Fixed the behavior of launch file (#336)
• [ros_speech_recognition] add auto_start in speech_recognition_node.py (#301)
• [ros_speech_recognition] add SpeechRecognitionCandidatesToString node (#303)
• Enable sound play flag (#315)
• Contributors: Aiko Ichikura, Aoi Nakane, Kei Okada, Koki Shinjo, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Yoshiki Obinata, Iory Yanokura

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

2.1.22 (2021-06-10)

• enable to change topic name from speech_recognition.launch (#254)
• support SpeakerDiarization, see https://cloud.google.com/speech-to-text/docs/reference/rest/v1/speech/recognize#SpeechRecognitionAlternative (#244)
  • [ros_speech_recognition] Add doc to speech_recognition.launch add doc to args, and we need to use rosparm for device, not param. because 'device: ' causes load_parameters: unable to set parameters (last param was [/speech_recognition/depth=16]): cannot marshal None unless allow_none is enabled error
  • more exception message for self.recognize
• Use PYTHON_INTERPRETER python3 in ros_speech_recognition (#225)
• Contributors: Kei Okada, Naoya Yamaguchi, Shingo Kitagawa

2.1.21 (2020-08-19)

• add missing packages, closes https://github.com/ros/rosdistro/pull/26216 (#211)
• Contributors: Kei Okada

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

• Fixed issue #201 as requested, see https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/202
• Contributors: MrMarshy

2.1.18 (2020-07-20)

• Fix for noetic (#200)
  • fix 2to3, with print, raise, exception
• [ros_speech_recognition] Enable multi channel audio recognition (#198)
  • adjust type code to the CPU platform
  • replace rosparam name: channels -> n_channel
  • add rosparam description to README
  • enable multi channel audio recognition
• Add args to ros_speech_recognition (#197)
  • Add flac as run_depend for SpeechRecognition pip package
  • Use catkin_virtualenv to use SpeechRecognition pip package
  • Add arguments and params to pass rostest
  • Add test for ros_speech_recognition
  • add args to launch
  • add pip install to tutorials
  • add param description to README
• Contributors: Kei Okada, Naoya Yamaguchi

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)

• fixes GoogleCloud auth (#158)
• Contributors: jonasius

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)

• ros_speech_recognition: add continuous mode (#127)
• ros_speech_recognition: add README (#123)
• add ros_speech_recognition package (#121)
• Contributors: Yuki Furuta

2.1.4 (2017-07-16)

2.1.3 (2017-07-07)

2.1.2 (2017-07-06)

2.1.1 (2017-07-05)

2.1.0 (2017-07-02)

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)