hmi_picovoice

Provides a hmi interface connecting to picovoice rhino speech recognition.

It depends on picovoice_driver to interface with PicoVoice's backend.

Usage with hmi framework

export PICOVOICE_KEY=...  # Get from https://console.picovoice.ai, and choose eg the coffeeMaker example context
rosrun picovoice_driver picovoice_driver_rhino _access_key:=$PICOVOICE_KEY __ns:=/robot/hmi

rosrun hmi_picovoice hmi_picovoice_node.py _context_url:=coffee_maker_linux __ns:=/robot/hmi

rosrun hmi multi_client __name:=/robot/hmi

rosrun actionlib_tools axclient.py /robot/hmi

and in axclient.py GUI Client specify grammar: 'orderBeverage' and hit SEND GOAL. Then, say/speak out loud e.g. 'large cappucino' to your computer and if all is well, the Result field should show something like:

talker_id: ''
sentence: "orderBeverage"
semantics: "{\"size\": \"large\", \"beverage\": \"cappuccino\"}"

Parameters

For hmi_picovoice_node.py:

• context_url what model to use. TODO: Not sure where eg. the string coffee_maker_linux comes from
• require_endpoint "If set to False, Rhino does not require an endpoint (chunk of silence) before finishing inference"