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Only released in EOL distros:   fuerte

About

The nao_speech package allows easy control of the NAO's speech module via ROS. These packages have been tested with NAOqi version 1.10.52.

Nodes

nao_speech

nao_speech can remotely control the NAO's speech module. Text-to-speech messages can be sent, volume can be controlled, and the language can be set using this node.

Subscribed Topics

nao_say (std_msgs/String)

• The message to be sent to the NAO's speech module that is to be spoken.

nao_set_volume (std_msgs/Float32)

• The volume level of the NAO's speech module in the range [0,1].

nao_set_lang (std_msgs/String)

• The language that the NAO's speech module should use. This language must be installed on the NAO.

Parameters

/naoqi/host (string)

• Hostname used to communicate with the Nao.

/naoqi/port (integer)

• Port used to communicate with the Nao.

/naoqi/path (string, default: null)

• Optional path to the NAOqi /lib folder that can be used if your local PYTHONPATH does not include it.

~volume (float, default: 0.5)

• The volume level of the NAO's speech module in the range [0,1].

~language (string, default: "English")

• The language that the NAO's speech module should use. This language must be installed on the NAO.

Installation

To install the nao_rail stack, simply run the following commands in your shell:

•    1 cd /path/to/your/ros/stacks
     2 git clone git://github.com/WPI-RAIL/nao_rail.git
     3 roscd nao_rail
     4 rosdep install nao_rail
     5 rosmake nao_rail
  

Startup

The nao_speech package contains a nao_speech.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 node. To launch this node, the following commands can be used:

• roslaunch nao_speech nao_speech.launch

Support

Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.

• Russell Toris

  • rctoris@wpi.edu

  • Academic Website

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