You can skip these steps if you purchase ROSECHO with a ROS2GO system

Install from debian package

To be released

Install from source

Steps to install to catkin_ws. Tested for ROS kinetic and melodic.

cd ~/catkin_ws/src/
git clone https://github.com/tianbot/rosecho.git
cd ~/catkin_ws && catkin_make

Usage Instructions

Make sure the power supply and usb connection are correct.

Start ROSECHO node Launch the ROSECHO.

roslaunch rosecho rosecho.launch

The default serial port is /dev/ttyUSB0, if serial open failed, pls check the port used by ROSECHO If it is /dev/ttyUSB1, you can change the launch file or launch use the command as follows

roslaunch rosecho rosecho.launch serial_port:=/dev/ttyUSB1

To enable wifi config, call the wifi_cfg service.

rosservice call /rosecho/wifi_cfg "ssid: 'tianbot' password: 'www.tianbot.com'"

You can use Tab to auto-complete the command and then fill in the ssid and password.

check the automated sound recognition result

rosrun rosecho asr_echo.py

check the answer

rosrun rosecho answer_echo.py

send tts to rosecho/tts/goal

rostopic pub /rosecho/tts/goal rosecho/ttsActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  text: '你好机器人'"

You can use Tab to auto-complete the command and then fill in the goal: text: '你好机器人'

Simple Demo

Voice command test in turtlebot stage

roslaunch rosecho rosecho.launch
roslaunch turtlebot_stage turtlebot_in_stage.launch
rosrun rosecho demo.py

Nodes

rosecho

Subscribed Topics

• The ROSECHO tts status.

• Cancel goal, interupt the current TTS action.

Published Topics

• The answer returned by iflyos.

• Speech recognized result.

• Position of the speaker when wakeup.

• Currently no output.

• Return success when finish TTS.

• The ROSECHO tts status.

Services

• Disable the service.

• Enable the service.

• Enter sleep mode if awaken.

• Manually wakeup.

• Setup WIFI connection.

License

The package is under BSD 3-Clause License