voice_controller_my_robot

Description

voice_controller_my_robot is a ROS 2 package that enables voice commands to control a robot's navigation. The current implementation allows users to issue commands to direct the robot to specific rooms by voice. Each room is associated with a number, and its corresponding coordinates are specified in the data/rooms_data.json file. The package leverages voice recognition to interpret commands and translates them into navigation goals within a pre-defined map.

Features

• Voice-controlled navigation: The robot can navigate to rooms by processing spoken commands.
• Room mapping: Rooms are associated with their coordinates in the map via a JSON configuration file.
• Simulation support: Can be used in a simulated environment with simulated time.

Files and Configuration

• rooms_data.json: This file contains the mapping between room numbers and their corresponding coordinates on the map. It is located in the data/ directory.

  Example structure of rooms_data.json:

  {
    "1": {"x": 1.5, "y": 3.2},
    "2": {"x": 2.3, "y": 4.1},
    "3": {"x": 3.0, "y": 5.6}
  }

Launch File Overview

The voice_controller.launch.py launch file is used to start the necessary nodes for voice control.

Nodes:

• keyboard_activator: This node allows for the manual activation of voice commands through the keyboard.
• voice_recorder: This node handles the voice recording and recognition functionality, converting spoken commands into text.
• pose_publish_from_room_number: Based on the recognized room number, this node publishes the corresponding goal pose for the robot to navigate to.

Launch Arguments:

• use_sim_time:
  • Default: true
  • Enables or disables the use of simulation time (especially useful when testing in simulated environments like Gazebo).

Installation

1. Clone the repository:

   git clone <repository_link>
   cd voice_controller_my_robot

2. Install dependencies: Ensure you have installed the necessary dependencies for ROS 2 and any additional packages required for voice recognition.

3. Build the workspace: Build the package within your ROS 2 workspace:

   colcon build

4. Source the workspace: Source the setup file:

   source install/setup.bash

Usage

To start the voice control system, use the following command:

ros2 launch voice_controller_my_robot voice_controller.launch.py

Example Workflow:

1. Activate voice command: Use the keyboard or any trigger mechanism to activate the voice recognition system.
2. Issue voice commands: Speak the number of the room you want the robot to go to (e.g., "Go to room 2").
3. Navigation: The robot will use the room coordinates from rooms_data.json to navigate to the specified location on the map.

Customization:

• To modify the room mapping, edit the data/rooms_data.json file with the desired room numbers and their corresponding coordinates.
• Adjust the parameters in the launch file to suit your specific environment, such as toggling the use of simulated time.

Dependencies

• ROS 2
• Voice recognition libraries (Google Speech-to-Text)
• A microphone or audio input device for voice commands

License

This project is licensed under the MIT License.

Contributors

• Axel NIATO - Lead Developer