STT (Speech To Text)

STT for ROS 2 using JSGF grammars.

Installation

# clone
$ cd ~/ros2_ws/src
$ git clone https://github.com/MERLIN2-ARCH/speech_to_text.git
$ git clone https://github.com/uleroboticsgroup/simple_node.git 

# dependencies
$ sudo apt-get install -y python-dev libportaudio2 libportaudiocpp0 portaudio19-dev libasound-dev swig
$ cd speech_to_text
$ pip3 install -r requirements.txt
$ python3 ./nltk_download.py

# colcon
$ cd ~/ros2_ws
$ colcon build

Usage

Launch

$ ros2 launch speech_to_text speech_to_text.launch.py

Shell Example

$ ros2 action send_goal /speech_to_text/listen_once speech_to_text_msgs/action/ListenOnce {}