apps: nao_tools
Package Summary
Currently, nao_tools includes a node that allows control of the text-to-speech module over the terminal. The volume and language can also be set from this node.
- Author: Russell Toris
- License: BSD
- Repository: wpi-rail-ros-pkg
- Source: git https://github.com/WPI-RAIL/wpi-rail-ros-pkg
Nodes
nao_terminal_talk
nao_terminal_talk allows you to type text into the terminal and send it to the NAO's text-to-speech module. Volume and language control is also enabled in this node with use of the volume() and lang() commands.Published Topics
nao_say (std_msgs/String)- The message to be sent to the NAO's speech module that is to be spoken.
- The volume level of the NAO's speech module in the range [0,1].
- The language that the NAO's speech module should use. This language must be installed on the NAO.
Startup
The nao_tools package contains a nao_terminal_talk.launch file which should be edited with the hostname and port of your NAO. Additionally, if your local PYTHONPATH does not include the path to your NAOqi /lib folder, an optional parameter can be set in the launch file. Parameters are also included to configure the volume and language of the NAO's speech module. These are set to the default values in the given launch file. This file launches an instance of the nao_speech and nao_terminal_talk nodes. To launch this node, the following commands can be used:
With the above nodes running, you can type in any text for the NAO to speak, or use one of three commands. The volume() command can take a number in the range [0,1] that will change the volume of the NAO's speech module. Similarly, the lang() command can be used to change the language. A quit() command can be used to exit the node. This command will not kill the nao_speech node that is also launched; therefore, to completely exit the application, a ctrl-c must also be sent. An example use of this application is given below:
1 roslaunch nao_tools nao_terminal_talk.launch
2 ...
3 [INFO] [WallTime: 1322766717.439746] Nao Speech Node Initialized
4 [INFO] [1322766718.771529506]: Nao Terminal Talk Started
5 Enter text for the NAO to speak. To exit this node, use the 'exit()' command.
6 > Hello!
7 > volume(0.75)
8 > lang(French)
9 > Bonjour!
10 > exit()
11 [nao_terminal_talk-3] process has finished cleanly.
12 ...
13 ^C[nao_speech-2] killing on exit
14 ...
Support
Please feel free to contact me at any point with questions, comments, and bug reports.