utbots_voice

This stack contains packages related to human-robot interface, such as:

• display_emotions - Emotion visual interface
• utbots_stt - Speech-To-Text with noise filtering and Voice Activity Detection
• utbots_tts - Text-To-Speech
• utbots_nlu - Natural Language Understanding

And is dependant on:

• utbots_dependencies

Installation

cd <ros2_ws>/src
git clone --recurse-submodules https://github.com/UtBotsAtHome-UTFPR/utbots_voice.git
cd ../

Dependencies

See the dependencies installation procedure for each package accessing its README.md file or below, in Packages Description.

Building

cd <ros2_ws>
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select display_emotions utbots_nlu ros_tts vad_ros whisper_ros utbots_actions utbots_srvs utbots_msgs \
--allow-overriding utbots_msgs utbots_actions utbots_srvs \
&& source install/setup.bash

Updating

To push changes to the submodule packages (display_emotions, utbots_nlu) you should go to their repository path and perform a simple add, commit and push. After, you have to push the changes to the stack, going back to the stack repository path and doing the following command:

git submodule update --remote --merge

And then, perform a simple add, commit and push in the stack repository.

Running

See the usage explanation accessing each package in the repository or below, in Packages Description.

Packages Description

See the README.md in each package.