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ROS machine voice
2022-07-06 13:15:00 【melodic18】
Speech recognition function package :pocketsphinx
because pocketsphinx Only to Ubuntu14.04,ROS Kinetic I won't support it sudo apt-get install ros-kinetic-pocketsphinx, So in kinetic The installation is a little troublesome .
Switch to a bash:
exec bash
Switch to a zsh:
exec zsh
1, Installation dependency ros-kinetic-audio-common
sudo apt-get install ros-kinetic-audio-common
2, Installation dependency libasound2
sudo apt-get install libasound2
3, Installation dependency libgstreamer0.10
zsh Unable to run , however bash Sure , Here we are going to bash Add to zsh in
sudo apt-get install gstreamer0.10-*
4, Installation dependency python-gst0.10
sudo apt-get install python-gst0.10
5, Install Feature Pack libsphinxbase1_0.8-6
Download link :https://packages.debian.org/jessie/libpocketsphinx1
sudo dpkg -i libpocketsphinx1_0.8-5_amd64.deb
6, Install Feature Pack libpocketsphinx1_0.8-5
Download link :https://packages.debian.org/jessie/libpocketsphinx1
sudo dpkg -i libpocketsphinx1_0.8-5_amd64.deb
7, Install Feature Pack gstreamer0.10-pocketsphinx
Download link :https://packages.debian.org/jessie/gstreamer0.10-pocketsphinx
sudo dpkg -i gstreamer0.10-pocketsphinx_0.8-5_amd64.deb
8, Enter the workspace Directory , download pocketsphinx The source code of the function package and compile
cd ~/catkin_ws/src
git clone https://github.com/mikeferguson/pocketsphinx
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
9, Download and install the English voice pack pocketsphinx-hmm-en-tidigits_0.8-5
Download link :https://packages.debian.org/jessie/pocketsphinx-hmm-en-tidigits
sudo dpkg -i pocketsphinx-hmm-en-tidigits_0.8-5_all.deb
10, stay pocketsphinx Create a model Catalog , Store the unzipped voice model file
cd ~/catkin_ws/src/pocketsphinx
mkdir model
sudo cp /usr/share/pocketsphinx/model/* ~/catkin_ws/src/pocketsphinx/model -r
11, modify recognizer.py file cd ~/catkin_ws/src/pocketsphinx/nodes
(1) Comment out self.asr.set_property(‘configured’, True)
(2) add to lm,dict,hmm Support English recognition ( If it is another language, you can change to another path )
self.asr.set_property('lm', '/usr/share/pocketsphinx/model/lm/en/tidigits.DMP')
self.asr.set_property('dict', '/usr/share/pocketsphinx/model/lm/en/tidigits.dic')
self.asr.set_property('hmm', '/usr/share/pocketsphinx/model/hmm/en/tidigits')
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