Merge pull request #12 from ouspg/521275A-2023-speech-synthesis

521275 a 2023 speech synthesis

.gitignore

@@ -7,6 +7,10 @@
 .vscode/*
 !.vscode/c_cpp_properties.json
 
+src/tts_package/resource/*
+src/tts_package/resource/config.json
+src/tts_package/resource/model.pth
+src/tts_package/resource/output.wav
 
 build
 devel

README.md

@@ -24,6 +24,7 @@ Joint -> Servo mappings are defined in two files. Configuration file connects se
   * src/inmoov_description - robot files, which define the robot geometry and configuration for simulation (URDF, SRDF & rviz configuration)
   * src/robot - robot launch files & servo controller configurations
   * src/robot_hardware - hardware interface for ros2_controller, communicates with U2D2 via dynamixel workbench
+  * src/tts_package - Text-to-speech package for finnish speech synthesis 
 
 ## Servo Table
 

docs/BRINGUP.md

@@ -55,6 +55,22 @@ Anyway, you are able to test the face tracking and eye movements like this.
 
 **Note: currently, only jaw, eyes, right hand & head pan movement can be simulated**
 
+### Launching text-to-speech service
+
+Text-to-speech works as a service which can be called from terminal utilizing the ros2 client in package.
+
+Run the service in a (new) terminal
+
+```console
+ros2 run tts_package service
+```
+
+Call the service from terminal using client and synthetize speech
+
+```console
+ros2 run tts_package client "Tämä lause syntentisoidaan puheeksi."
+```
+
 ## Bring-up real HW robot
 
 ### (0. Test servo communication)
@@ -142,6 +158,22 @@ Finally, start the eye movement node in a new terminal window
 ros2 run eye_movement eye_movement_node
 ```
 
+### 5. Launching text-to-speech service
+
+Text-to-speech works as a service which can be called from terminal utilizing the ros2 client in package.
+
+Run the service in a (new) terminal
+
+```console
+ros2 run tts_package service
+```
+
+Call the service from terminal using client and synthetize speech
+
+```console
+ros2 run tts_package client "Tämä lause syntentisoidaan puheeksi."
+```
+
 **Todo: simplify bring up process (add the starting of the controllers to the launch file)**
 
 ## Sending action goals manually

src/tts_msgs/CMakeLists.txt

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.5)
+project(tts_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+    "srv/StringToWav.srv"
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/tts_msgs/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tts_msgs</name>
+  <version>1.0.0</version>
+  <description>Interface for tts_package</description>
+  <maintainer email="[email protected]">Konsta Laurila</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>geometry_msgs</depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/tts_msgs/srv/StringToWav.srv

@@ -0,0 +1,3 @@
+string data
+---
+bool success

src/tts_package/README.md

@@ -0,0 +1,34 @@
+This package contains service and client for finnish text-to-speech feature. Service will automatically play synthesized speech when called with wanted sentence as an argument.
+
+# Usage
+
+## Before
+Check that model.pth and config.json are located in src/tts_package/resource/ folder. These should be downloaded and installed automatically when installing environment with vagrant. Scripts located in /vagrant-scripts/bootstrap.sh.
+
+## Dependencies
+
+* `TTS`
+* `espeak-ng`
+* `simpleaudio`
+
+These are included in the newest version of the vagrantfile. If these are not installed during bootstrap, they need to be installed to VM before starting the service.
+
+Install TTS
+> pip install TTS <br>
+
+And install espeak
+> apt -y install espeak
+
+## Run TTS service
+> ros2 run tts_package service
+
+
+## Using the service
+Service can be used by calling client with terminal, giving sentences as an argument. Note that sentences should be inside quotes and in finnish.
+> ros2 run tts_package client "Hei. Tässä on lause joka syntentisoidaan puheeksi."
+
+Service will now try to synthentize sentence into .wav file located in 'src/tts_package/resource/output.wav' which will then be played automatically.
+
+## Potential future improvements
+
+* Implement this feature to work with potential speech-to-text and chatbot features.

src/tts_package/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tts_package</name>
+  <version>1.0.0</version>
+  <description>Text-to-speech pacakge for synthetizing speech.</description>
+  <maintainer email="[email protected]">Konsta Laurila</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>python3-TTS</depend>
+  <depend>python3-simpleaudio</depend>
+
+  <exec_depend>tts_msgs</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/tts_package/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/tts_package
+[install]
+install-scripts=$base/lib/tts_package

src/tts_package/setup.py

@@ -0,0 +1,27 @@
+from setuptools import setup
+
+package_name = 'tts_package'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='vagrant',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'service = tts_package.tts_node:main',
+            'client = tts_package.tts_member_function:main',
+        ],
+    },
+)

src/tts_package/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/tts_package/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/tts_package/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/tts_package/tts_package/tts_member_function.py

@@ -0,0 +1,46 @@
+import sys
+
+from tts_msgs.srv import StringToWav
+
+import rclpy
+from rclpy.node import Node
+
+
+class ttsClientAsync(Node):
+
+    # Client Node that is used to call the TTS service. Takes sentence as an argument that service will try to synthetize.
+    # ros2 run tts_package client "Tässä teksti joka syntentisoidaan. Voi sisältää useampiakin lauseita kunhan ne ovat lainausmerkkien sisällä".
+
+    def __init__(self):
+        super().__init__('tts_client_async')
+        self.cli = self.create_client(StringToWav, 'StringToWav')
+        while not self.cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('service not available, waiting again...')
+        self.req = StringToWav.Request()
+
+    def send_request(self, data):
+        self.req.data = data
+        self.future = self.cli.call_async(self.req)
+        rclpy.spin_until_future_complete(self, self.future)
+        return self.future.result()
+
+def main():
+    rclpy.init()
+
+    tts_client = ttsClientAsync()
+
+    response = tts_client.send_request(sys.argv[1])
+
+    if(response.success):
+        tts_client.get_logger().info(
+            'Succesfully synthentized!')
+    else:
+        tts_client.get_logger().info(
+            'Failed to synthentize!'
+        )
+    tts_client.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()