ROS ROBOTIC VA PROJECT

AUTHOR : Tsung-Han Brian Lee
LICENSE : MIT

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Usage:

In terminal of Audio Server Machine

# Modify username and ip for your case
$ git clone https://github.com/bobolee1239/ros-robotic-va.git
$ cd ros-robotic-va/script
$ chmod +x audio_server.py
$ ./audio_server.py <audio_server_ip_addr> <audio_server_port_num>
# or
$ python ./audio_server.py <audio_server_ip_addr> <audio_server_port_num>

In terminal of machine A

# Modify username and ip for your case
$ ssh pi@192.168.1.181
$ cd ~/catkin_ws/src/
$ git clone https://github.com/bobolee1239/ros-robotic-va.git
$ cd ~/catkin_ws
$ catkin_make
$ export ROS_MASTER_URI="http://<machine_A_ip_addr>:11311"
$ export ROS_IP="<machine_A_ip_addr>"
$ roslaunch ros-robotic-va simpleVA_mic.launch

In terminal of machine B

# Modify username and ip for your case
$ ssh pi@192.168.1.104
$ cd ~/catkin_ws/src/
$ git clone https://github.com/bobolee1239/ros-robotic-va.git
$ cd ~/catkin_ws
$ catkin_make
$ export ROS_MASTER_URI="http://<machine_A_ip_addr>:11311"
$ export ROS_IP="<machine_B_ip_addr>"
$ # you might want to execute in root permission, see following
$ roslaunch ros-robotic-va simpleVA_motor.launch

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Get Started

Environment

• Tested Operating System : Ubuntu 16 | Raspian Strench | ROS Kinetic
• Python Dependencies: SimpleWebSocketServer, websocket-client, pyaudio, pyusb, webrtcvad, and pocketsphinx

Make sure you have up-to-date version of pip, setuptools and wheel before install python dependencies

$ python3 -m pip install --upgrade pip setuptools wheel

Device Firmware (can be found in github/respeaker)

• Respeaker 8 mics DFU (Device Firmware Upgrade)
• Drivers for Raspberry Pi

To access USB device without root permission, you can add a udev .rules file to /etc/udev/rules.d

$ echo 'SUBSYSTEM=="usb", MODE="0666"' | sudo tee -a /etc/udev/rules.d/60-usb.rules
$ sudo udevadm control -R  # then re-plug the usb device

To access GPIO pins on Raspberry Pi without root permission on ROS node

$ sudo su
$ source /opt/ros/kinetic/setup.bash
$ source /home/pi/catkin_ws/devel/setup.bash

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Python 3 on ROS

First, you need to install catkin-tools and rospkg.

$ pip3 install catkin-tools rospkg

or

$ python3 -m pip install catkin-tools rospkg

Second, invoke Python 3 interpreter at the beginning of Python scripts.

1   #!/usr/bin/env python3

Congrats! You can develop in Python 3 now.

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Build Customized Keywords

Configure dictionary.txt and keyword.txt in script/beamforming/assets/pocketsphinx-data directory

• specific explanation CLICK HERE
• For more keywords dictionary CLICK HERE

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Plugin your own Source Localizatoin or Source Separation Algorithm

simply modify method beamforming of class UCA in scripts/beamforming/uca.py

# FILE: scripts/beamforming/uca.py

class UCA(object):
  ...
  def beamforming(self, chunks):
    ...
    for chunk in chunks:
      ##
      #   IMPLEMENT YOUR ALGORITHM FOLLOWING, GOOD LUCK!
      ##
    ...
  ...

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REFERENCE

Python3 in ROS

1. https://www.cnblogs.com/h46incon/p/6207145.html
2. https://github.com/OTL/cozmo_driver#super-hack-to-run-rospy-from-python3

Respeaker Microphone Array

1. https://github.com/respeaker