cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_light | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_tray_sensors | cob_undercarriage_ctrl | cob_utilities

Package Summary

This package implements a sound play module using text2wave and aplay through python.

• Author: Florian Weisshardt
• License: LGPL
• Repository: care-o-bot
• Source: git git://github.com/ipa320/cob_driver.git

You can use TTS speach output by using the cob_script_server.

Using festival

By default festival is used.

Using cepstral

For cepstral you need to buy a license key.

For using cepstral instead of festival please set the mode to cepstral with

rosparam set /sound_controller/mode cepstral

Installing cepstral vices and license

Download and install voice. Adopted from this tutorial.

• Download a voice file from http://www.cepstral.com/downloads/personal.php

• tar xzvf Cepstral_<<VOICE>>

• cd Cepstral_<<VOICE>>

• sudo ./install.sh

• sudo echo /opt/swift/lib > /etc/ld.so.conf.d/cepstral.conf

• sudo ldconfig

Register voice with license

• swift --reg-voice

Setting the sound volume

For setting the sound to xx% use

amixer -c 1 set Speaker xx%

To store the settings permanently, type

sudo alsactl store