ROSECHO

购买链接(Purchase link)：https://item.taobao.com/item.htm?id=607094712042

ROSECHO的唤醒词为 “波弟波弟”。 中文详细使用文档 doc.tianbot.com/rosecho

ROS drivers and examples for Tianbot ROSECHO, a smart speaker converse in Chinese. Wake-up-word: Bodhi Bodhi

Installation Instructions

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.

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

Topics

Published

• /rosecho/answer The answer returned by iflyos
• /rosecho/asr voice recognized result
• /rosecho/wakeup_pos Position of the speaker when wakeup.

Actions

Actionlib also use topic to transfer data.

• /rosecho/tts/feedback

• /rosecho/tts/result

• /rosecho/tts/status The ROSECHO tts status

• /rosecho/tts/goal The text to speech topic

• /rosecho/tts/cancel Cancel goal

Services

• /rosecho/disable
• /rosecho/enable
• /rosecho/sleep
• /rosecho/wakeup
• /rosecho/wifi_cfg

License

The package is under BSD 3-Clause License