openhri_ros

OpenHRI for ROS1 (noetic)

Quick start

This package is depend on following libraries:

• Julius dictation-kit
• OpenJtalk ( open-jtalk, open-jtalk-mecab-naist-jdic, hts-voice-nitech-jp-atr503-m001 )
• SoX(Sound eXchange) (libsox-dev)
• python3-pydub
• python3-urllib3
• python3-certifi
• python3-lxml
• ros-noetic-audio-capture
• ros-noetic-audio-play
• julius-voxforge

Setup google api_key

If you use google speech api, you need to get your 'api_key' from your Google Cloud Console. After getting the 'api_key', save it to ~/.openhri/google_apikey.txt

Setup Julius

1. Download dictation-kit from the official site.(https://osdn.net/projects/julius/downloads/71011/dictation-kit-4.5.zip/)
2. Unzip the archive on '/usr/local/julius/'
3. Change the file permission of the 'bin/linux/*' as '+x'

Run

• roslaunch openhri julius.launch
• roslaunch openhri google_asr.launch
• roslaunch openhri google_tts.launch
• roslaunch openhri openjtalk.launch

Information

for more Japanese infomation, please access to my homepage; http://hara-jp.com/_default/ja/Software/openhri_ros.html