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Package Summary

Tags No category tags.
Version 2.1.24
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_3rdparty.git
VCS Type git
VCS Version master
Last Updated 2022-11-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The julius_ros package

Additional Links

No additional links.

Maintainers

  • Yuki Furuta

Authors

  • Yuki Furuta

julius_ros

ROS Interface for Julius speech recognition engine

Please see - Source: Julius source code - Japanese dictatoin kit: - Up-to-date doc: New but incomplete documentation - old doc: Old documentation

Create Workspace

mkdir -p catkin_ws/src
cd  catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_3rdparty https://github.com/jsk-ros-pkg/jsk_3rdparty.git -y
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build julius_ros
source devel/setup.bash


GMM version

Usage

roslaunch julius_ros julius.launch

Getting Recognition Results

rostopic echo /speech_to_text/transcript[0]
かけ
---
たぬき
---
わかめ
---

Service

rosservice call /speech_recognition "vocabulary:
  words: ['みそ', 'しょうゆ', 'とんこつ']
"
# speak one word in the list above
results:
  transcript: ['\xe3\x81\xbf\xe3\x81\x9d', '\xe3\x81\x97\xe3\x82\x87\xe3\x81\x86\xe3\x82\x86', '\xe3\x81\xa8\xe3\x82\x93\xe3\x81\x93\xe3\x81\xa4']
    confidence: [1.0, 0.0, 0.0]

Limitation (TODO)

  • Only 'ひらがな' is supported for phoneme estimation.
  • Only word list is supported.

Author

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>


DNN version

We use julius config file and DNN weights from OSDN.

For detail, please see julius/Makefile.dictation-kit

Usage

roslaunch julius_ros julius.launch dnn:=true

Getting Recognition Results

rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(lambda x: '\'%s\''%(x.decode('utf-8')), m.transcript))))" /speech_to_text
transcript: [' こんにちは 。', ' こんにちは あ 。', ' 今日 わ 。', ' こんにちは は 。', ' 今日 は 。']
---

Limitation

  • /audio topic must be 1channel, 16bit, 16000Hz and wave format.
  • DNN is computed on the CPU.
  • CPU usage is about 2% during non-speech and about 100% during speech.
CHANGELOG

Changelog for package julius_ros

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

  • Add DNN version julius (#259)
    • Fix order of args in julius.launch
    • Update README
    • Do not use git-lfs and revert unnecessary change
    • Add julius_ros test for DNN version
    • Use audio port instead of microphone input
    • Update README and julius.launch arg doc
    • Use Julius config file in julius_ros
    • Fix typo: input audio via port
  • Contributors: Naoya Yamaguchi

2.1.22 (2021-06-10)

2.1.21 (2020-08-19)

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

  • fix typo in julius_client.py (#203)
  • add more arg options for julius.launch (#144)
    • add julius_output args
    • add julius_args
    • add args for device,channels,depth,sample_rate,format
  • Contributors: Kei Okada, Shingo Kitagawa

2.1.18 (2020-07-20)

  • Fix for noetic (#200)
    • julius_ros: fix for python3, specially str <-> bytes
    • fix 2to3, with print, raise, exception
    • use package.xml format 3 for package contains python depends
  • Contributors: Kei Okada

2.1.17 (2020-04-16)

2.1.16 (2020-04-16)

2.1.15 (2019-12-12)

2.1.14 (2019-11-21)

  • set SoundRequest.volume for kinetic (#173)
  • Contributors: Kei OKada

2.1.13 (2019-07-10)

2.1.12 (2019-05-25)

2.1.11 (2018-08-29)

2.1.10 (2018-04-25)

2.1.9 (2018-04-24)

2.1.8 (2018-04-17)

2.1.7 (2018-04-09)

2.1.6 (2017-11-21)

2.1.5 (2017-11-20)

2.1.4 (2017-07-16)

  • [julius_ros] set timeout to self.play_sound(self.start_signal) (#116)
  • Contributors: Kanae Kochigami

2.1.3 (2017-07-07)

2.1.2 (2017-07-06)

2.1.1 (2017-07-05)

  • [julius_ros] fix: missing deps julius-voxforge (#109)
  • Contributors: Furushchev

2.1.0 (2017-07-02)

  • [julius_ros] support grammatical recognition (#102)
    • [julius_ros] fix: initial vocabulary
    • [julius_ros][julius_client.py] advertise service on grammar mode
    • [julius_ros][julius.test] delay play audio 10 seconds
    • [julius_ros] add missing deps
    • [julius_ros] split grammar test
    • [julius_ros] support grammar
    • [julius_ros] update conf for grammar recognition [julius_ros] escape xml value before parse [julius_ros] update launch files [julius_ros] use machine tag by default [julius_ros] support respawn; minor fix [julius_ros][julius_grammar.launch] add argument for topic name of \'speech_to_text\' [julius_ros] add command line tools to add grammar / vocabulary to julius engine [julius_ros][julius_client.py] add service to show julius engine status [julius_ros][julius_client.py] bugfix: INPUTONCHANGE WAIT [julius_ros][julius_client.py] cleanup change gram
  • [julius_ros] Update julius to 4.4.2 / add ROS interface (#99)
    • add julius_ros package
    • [julius_ros] add test
  • Contributors: Furushchev, Yuki Furuta

2.0.20 (2017-05-09)

2.0.19 (2017-02-22)

2.0.18 (2016-10-28)

2.0.17 (2016-10-22)

2.0.16 (2016-10-17)

2.0.15 (2016-10-16)

2.0.14 (2016-03-20)

2.0.13 (2015-12-15)

2.0.12 (2015-11-26)

2.0.11 (2015-10-07 14:16)

2.0.10 (2015-10-07 12:47)

2.0.9 (2015-09-26)

2.0.8 (2015-09-15)

2.0.7 (2015-09-14)

2.0.6 (2015-09-08)

2.0.5 (2015-08-23)

2.0.4 (2015-08-18)

2.0.3 (2015-08-01)

2.0.2 (2015-06-29)

2.0.1 (2015-06-19 21:21)

2.0.0 (2015-06-19 10:41)

1.0.71 (2015-05-17)

1.0.70 (2015-05-08)

1.0.69 (2015-05-05 12:28)

1.0.68 (2015-05-05 09:49)

1.0.67 (2015-05-03)

1.0.66 (2015-04-03)

1.0.65 (2015-04-02)

1.0.64 (2015-03-29)

1.0.63 (2015-02-19)

1.0.62 (2015-02-17)

1.0.61 (2015-02-11)

1.0.60 (2015-02-03 10:12)

1.0.59 (2015-02-03 04:05)

1.0.58 (2015-01-07)

1.0.57 (2014-12-23)

1.0.56 (2014-12-17)

1.0.55 (2014-12-09)

1.0.54 (2014-11-15)

1.0.53 (2014-11-01)

1.0.52 (2014-10-23)

1.0.51 (2014-10-20 16:01)

1.0.50 (2014-10-20 01:50)

1.0.49 (2014-10-13)

1.0.48 (2014-10-12)

1.0.47 (2014-10-08)

1.0.46 (2014-10-03)

1.0.45 (2014-09-29)

1.0.44 (2014-09-26 09:17)

1.0.43 (2014-09-26 01:08)

1.0.42 (2014-09-25)

1.0.41 (2014-09-23)

1.0.40 (2014-09-19)

1.0.39 (2014-09-17)

1.0.38 (2014-09-13)

1.0.37 (2014-09-08)

1.0.36 (2014-09-01)

1.0.35 (2014-08-16)

1.0.34 (2014-08-14)

1.0.33 (2014-07-28)

1.0.32 (2014-07-26)

1.0.31 (2014-07-23)

1.0.30 (2014-07-15)

1.0.29 (2014-07-02)

1.0.28 (2014-06-24)

1.0.27 (2014-06-10)

1.0.26 (2014-05-30)

1.0.25 (2014-05-26)

1.0.24 (2014-05-24)

1.0.23 (2014-05-23)

1.0.22 (2014-05-22)

1.0.21 (2014-05-20)

1.0.20 (2014-05-09)

1.0.19 (2014-05-06)

1.0.18 (2014-05-04)

1.0.17 (2014-04-20)

1.0.16 (2014-04-19 23:29)

1.0.15 (2014-04-19 20:19)

1.0.14 (2014-04-19 12:52)

1.0.13 (2014-04-19 11:06)

1.0.12 (2014-04-18 16:58)

1.0.11 (2014-04-18 08:18)

1.0.10 (2014-04-17)

1.0.9 (2014-04-12)

1.0.8 (2014-04-11)

1.0.7 (2014-04-10)

1.0.6 (2014-04-07)

1.0.5 (2014-03-31)

1.0.4 (2014-03-29)

1.0.3 (2014-03-19)

1.0.2 (2014-03-12)

1.0.1 (2014-03-07)

1.0.0 (2014-03-05)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/julius_grammar.launch
      • conf_file [default: $(find julius_ros)/conf/grammar.jconf]
      • hmm_def_file [default: /usr/share/julius-voxforge/acoustic/hmmdefs]
      • hmm_list_file [default: /usr/share/julius-voxforge/acoustic/tiedlist]
      • gram_path [default: $(find julius_ros)/data/udon]
      • module_port [default: 10500]
      • audio_port [default: 10501]
      • max_connection_retry [default: 0]
      • respawn [default: true]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
  • launch/julius.launch
      • conf_file [default: $(find julius_ros)/conf/main.jconf] — Common Julius config file for DNN version and GMM version. Other configs are specified in the args of run_julius.sh
      • module_port [default: 10500] — Port number when julius is started in module mode.
      • audio_port [default: 10501] — Port number for outputting audio to julius module.
      • max_connection_retry [default: 0] — Maximum number of times to try to connect to the server; if 0, it will try forever.
      • default_threshold [default: 0.9] — Threshold for judging the recognition result as correct
      • start_signal_action_timeout [default: 0.3] — Timeout[s] for sounding start signal
      • dnn [default: false] — set true if you use DNN version julius
      • hmm_list_file [default: $(find julius)/model/dnn/logicalTri.bin] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • hmm_def_file [default: $(find julius)/model/dnn/binhmm.SID] — HTK's HMM definition file containing all the phoneme definitions in one place
      • bingram_file [default: $(find julius)/model/lang_m/bccwj.60k.bingram] — Binary N-gram file (Language model file)
      • htkdic_file [default: $(find julius)/model/lang_m/bccwj.60k.pdp.htkdic] — Pronunciation dictionary for language models
      • dnn_julius_file [default: $(find julius)/julius.dnnconf] — Feature conversion configuration file for DNN (Julius alone) version
      • hmm_def_file [default: $(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs] — HTK's HMM definition file containing all the phoneme definitions in one place
      • hmm_list_file [default: $(find julius)/model/phone_m/logicalTri] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • word_file [default: $(find julius_ros)/data/udon.dic] — Word dictionary file (pronunciation dictionary file)
      • respawn [default: false]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
      • device [default: ] — device path, for example plughw:2,0
      • format [default: wave]
      • channels [default: 1]
      • depth [default: 16]
      • sample_rate [default: 16000]
      • julius_args [default: ] — set -debug to turn on julius debug
      • julius_output [default: log]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged julius_ros at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.24
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_3rdparty.git
VCS Type git
VCS Version master
Last Updated 2022-11-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The julius_ros package

Additional Links

No additional links.

Maintainers

  • Yuki Furuta

Authors

  • Yuki Furuta

julius_ros

ROS Interface for Julius speech recognition engine

Please see - Source: Julius source code - Japanese dictatoin kit: - Up-to-date doc: New but incomplete documentation - old doc: Old documentation

Create Workspace

mkdir -p catkin_ws/src
cd  catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_3rdparty https://github.com/jsk-ros-pkg/jsk_3rdparty.git -y
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build julius_ros
source devel/setup.bash


GMM version

Usage

roslaunch julius_ros julius.launch

Getting Recognition Results

rostopic echo /speech_to_text/transcript[0]
かけ
---
たぬき
---
わかめ
---

Service

rosservice call /speech_recognition "vocabulary:
  words: ['みそ', 'しょうゆ', 'とんこつ']
"
# speak one word in the list above
results:
  transcript: ['\xe3\x81\xbf\xe3\x81\x9d', '\xe3\x81\x97\xe3\x82\x87\xe3\x81\x86\xe3\x82\x86', '\xe3\x81\xa8\xe3\x82\x93\xe3\x81\x93\xe3\x81\xa4']
    confidence: [1.0, 0.0, 0.0]

Limitation (TODO)

  • Only 'ひらがな' is supported for phoneme estimation.
  • Only word list is supported.

Author

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>


DNN version

We use julius config file and DNN weights from OSDN.

For detail, please see julius/Makefile.dictation-kit

Usage

roslaunch julius_ros julius.launch dnn:=true

Getting Recognition Results

rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(lambda x: '\'%s\''%(x.decode('utf-8')), m.transcript))))" /speech_to_text
transcript: [' こんにちは 。', ' こんにちは あ 。', ' 今日 わ 。', ' こんにちは は 。', ' 今日 は 。']
---

Limitation

  • /audio topic must be 1channel, 16bit, 16000Hz and wave format.
  • DNN is computed on the CPU.
  • CPU usage is about 2% during non-speech and about 100% during speech.
CHANGELOG

Changelog for package julius_ros

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

  • Add DNN version julius (#259)
    • Fix order of args in julius.launch
    • Update README
    • Do not use git-lfs and revert unnecessary change
    • Add julius_ros test for DNN version
    • Use audio port instead of microphone input
    • Update README and julius.launch arg doc
    • Use Julius config file in julius_ros
    • Fix typo: input audio via port
  • Contributors: Naoya Yamaguchi

2.1.22 (2021-06-10)

2.1.21 (2020-08-19)

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

  • fix typo in julius_client.py (#203)
  • add more arg options for julius.launch (#144)
    • add julius_output args
    • add julius_args
    • add args for device,channels,depth,sample_rate,format
  • Contributors: Kei Okada, Shingo Kitagawa

2.1.18 (2020-07-20)

  • Fix for noetic (#200)
    • julius_ros: fix for python3, specially str <-> bytes
    • fix 2to3, with print, raise, exception
    • use package.xml format 3 for package contains python depends
  • Contributors: Kei Okada

2.1.17 (2020-04-16)

2.1.16 (2020-04-16)

2.1.15 (2019-12-12)

2.1.14 (2019-11-21)

  • set SoundRequest.volume for kinetic (#173)
  • Contributors: Kei OKada

2.1.13 (2019-07-10)

2.1.12 (2019-05-25)

2.1.11 (2018-08-29)

2.1.10 (2018-04-25)

2.1.9 (2018-04-24)

2.1.8 (2018-04-17)

2.1.7 (2018-04-09)

2.1.6 (2017-11-21)

2.1.5 (2017-11-20)

2.1.4 (2017-07-16)

  • [julius_ros] set timeout to self.play_sound(self.start_signal) (#116)
  • Contributors: Kanae Kochigami

2.1.3 (2017-07-07)

2.1.2 (2017-07-06)

2.1.1 (2017-07-05)

  • [julius_ros] fix: missing deps julius-voxforge (#109)
  • Contributors: Furushchev

2.1.0 (2017-07-02)

  • [julius_ros] support grammatical recognition (#102)
    • [julius_ros] fix: initial vocabulary
    • [julius_ros][julius_client.py] advertise service on grammar mode
    • [julius_ros][julius.test] delay play audio 10 seconds
    • [julius_ros] add missing deps
    • [julius_ros] split grammar test
    • [julius_ros] support grammar
    • [julius_ros] update conf for grammar recognition [julius_ros] escape xml value before parse [julius_ros] update launch files [julius_ros] use machine tag by default [julius_ros] support respawn; minor fix [julius_ros][julius_grammar.launch] add argument for topic name of \'speech_to_text\' [julius_ros] add command line tools to add grammar / vocabulary to julius engine [julius_ros][julius_client.py] add service to show julius engine status [julius_ros][julius_client.py] bugfix: INPUTONCHANGE WAIT [julius_ros][julius_client.py] cleanup change gram
  • [julius_ros] Update julius to 4.4.2 / add ROS interface (#99)
    • add julius_ros package
    • [julius_ros] add test
  • Contributors: Furushchev, Yuki Furuta

2.0.20 (2017-05-09)

2.0.19 (2017-02-22)

2.0.18 (2016-10-28)

2.0.17 (2016-10-22)

2.0.16 (2016-10-17)

2.0.15 (2016-10-16)

2.0.14 (2016-03-20)

2.0.13 (2015-12-15)

2.0.12 (2015-11-26)

2.0.11 (2015-10-07 14:16)

2.0.10 (2015-10-07 12:47)

2.0.9 (2015-09-26)

2.0.8 (2015-09-15)

2.0.7 (2015-09-14)

2.0.6 (2015-09-08)

2.0.5 (2015-08-23)

2.0.4 (2015-08-18)

2.0.3 (2015-08-01)

2.0.2 (2015-06-29)

2.0.1 (2015-06-19 21:21)

2.0.0 (2015-06-19 10:41)

1.0.71 (2015-05-17)

1.0.70 (2015-05-08)

1.0.69 (2015-05-05 12:28)

1.0.68 (2015-05-05 09:49)

1.0.67 (2015-05-03)

1.0.66 (2015-04-03)

1.0.65 (2015-04-02)

1.0.64 (2015-03-29)

1.0.63 (2015-02-19)

1.0.62 (2015-02-17)

1.0.61 (2015-02-11)

1.0.60 (2015-02-03 10:12)

1.0.59 (2015-02-03 04:05)

1.0.58 (2015-01-07)

1.0.57 (2014-12-23)

1.0.56 (2014-12-17)

1.0.55 (2014-12-09)

1.0.54 (2014-11-15)

1.0.53 (2014-11-01)

1.0.52 (2014-10-23)

1.0.51 (2014-10-20 16:01)

1.0.50 (2014-10-20 01:50)

1.0.49 (2014-10-13)

1.0.48 (2014-10-12)

1.0.47 (2014-10-08)

1.0.46 (2014-10-03)

1.0.45 (2014-09-29)

1.0.44 (2014-09-26 09:17)

1.0.43 (2014-09-26 01:08)

1.0.42 (2014-09-25)

1.0.41 (2014-09-23)

1.0.40 (2014-09-19)

1.0.39 (2014-09-17)

1.0.38 (2014-09-13)

1.0.37 (2014-09-08)

1.0.36 (2014-09-01)

1.0.35 (2014-08-16)

1.0.34 (2014-08-14)

1.0.33 (2014-07-28)

1.0.32 (2014-07-26)

1.0.31 (2014-07-23)

1.0.30 (2014-07-15)

1.0.29 (2014-07-02)

1.0.28 (2014-06-24)

1.0.27 (2014-06-10)

1.0.26 (2014-05-30)

1.0.25 (2014-05-26)

1.0.24 (2014-05-24)

1.0.23 (2014-05-23)

1.0.22 (2014-05-22)

1.0.21 (2014-05-20)

1.0.20 (2014-05-09)

1.0.19 (2014-05-06)

1.0.18 (2014-05-04)

1.0.17 (2014-04-20)

1.0.16 (2014-04-19 23:29)

1.0.15 (2014-04-19 20:19)

1.0.14 (2014-04-19 12:52)

1.0.13 (2014-04-19 11:06)

1.0.12 (2014-04-18 16:58)

1.0.11 (2014-04-18 08:18)

1.0.10 (2014-04-17)

1.0.9 (2014-04-12)

1.0.8 (2014-04-11)

1.0.7 (2014-04-10)

1.0.6 (2014-04-07)

1.0.5 (2014-03-31)

1.0.4 (2014-03-29)

1.0.3 (2014-03-19)

1.0.2 (2014-03-12)

1.0.1 (2014-03-07)

1.0.0 (2014-03-05)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/julius_grammar.launch
      • conf_file [default: $(find julius_ros)/conf/grammar.jconf]
      • hmm_def_file [default: /usr/share/julius-voxforge/acoustic/hmmdefs]
      • hmm_list_file [default: /usr/share/julius-voxforge/acoustic/tiedlist]
      • gram_path [default: $(find julius_ros)/data/udon]
      • module_port [default: 10500]
      • audio_port [default: 10501]
      • max_connection_retry [default: 0]
      • respawn [default: true]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
  • launch/julius.launch
      • conf_file [default: $(find julius_ros)/conf/main.jconf] — Common Julius config file for DNN version and GMM version. Other configs are specified in the args of run_julius.sh
      • module_port [default: 10500] — Port number when julius is started in module mode.
      • audio_port [default: 10501] — Port number for outputting audio to julius module.
      • max_connection_retry [default: 0] — Maximum number of times to try to connect to the server; if 0, it will try forever.
      • default_threshold [default: 0.9] — Threshold for judging the recognition result as correct
      • start_signal_action_timeout [default: 0.3] — Timeout[s] for sounding start signal
      • dnn [default: false] — set true if you use DNN version julius
      • hmm_list_file [default: $(find julius)/model/dnn/logicalTri.bin] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • hmm_def_file [default: $(find julius)/model/dnn/binhmm.SID] — HTK's HMM definition file containing all the phoneme definitions in one place
      • bingram_file [default: $(find julius)/model/lang_m/bccwj.60k.bingram] — Binary N-gram file (Language model file)
      • htkdic_file [default: $(find julius)/model/lang_m/bccwj.60k.pdp.htkdic] — Pronunciation dictionary for language models
      • dnn_julius_file [default: $(find julius)/julius.dnnconf] — Feature conversion configuration file for DNN (Julius alone) version
      • hmm_def_file [default: $(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs] — HTK's HMM definition file containing all the phoneme definitions in one place
      • hmm_list_file [default: $(find julius)/model/phone_m/logicalTri] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • word_file [default: $(find julius_ros)/data/udon.dic] — Word dictionary file (pronunciation dictionary file)
      • respawn [default: false]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
      • device [default: ] — device path, for example plughw:2,0
      • format [default: wave]
      • channels [default: 1]
      • depth [default: 16]
      • sample_rate [default: 16000]
      • julius_args [default: ] — set -debug to turn on julius debug
      • julius_output [default: log]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged julius_ros at answers.ros.org

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Package Summary

Tags No category tags.
Version 2.1.24
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_3rdparty.git
VCS Type git
VCS Version master
Last Updated 2022-11-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The julius_ros package

Additional Links

No additional links.

Maintainers

  • Yuki Furuta

Authors

  • Yuki Furuta

julius_ros

ROS Interface for Julius speech recognition engine

Please see - Source: Julius source code - Japanese dictatoin kit: - Up-to-date doc: New but incomplete documentation - old doc: Old documentation

Create Workspace

mkdir -p catkin_ws/src
cd  catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_3rdparty https://github.com/jsk-ros-pkg/jsk_3rdparty.git -y
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build julius_ros
source devel/setup.bash


GMM version

Usage

roslaunch julius_ros julius.launch

Getting Recognition Results

rostopic echo /speech_to_text/transcript[0]
かけ
---
たぬき
---
わかめ
---

Service

rosservice call /speech_recognition "vocabulary:
  words: ['みそ', 'しょうゆ', 'とんこつ']
"
# speak one word in the list above
results:
  transcript: ['\xe3\x81\xbf\xe3\x81\x9d', '\xe3\x81\x97\xe3\x82\x87\xe3\x81\x86\xe3\x82\x86', '\xe3\x81\xa8\xe3\x82\x93\xe3\x81\x93\xe3\x81\xa4']
    confidence: [1.0, 0.0, 0.0]

Limitation (TODO)

  • Only 'ひらがな' is supported for phoneme estimation.
  • Only word list is supported.

Author

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>


DNN version

We use julius config file and DNN weights from OSDN.

For detail, please see julius/Makefile.dictation-kit

Usage

roslaunch julius_ros julius.launch dnn:=true

Getting Recognition Results

rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(lambda x: '\'%s\''%(x.decode('utf-8')), m.transcript))))" /speech_to_text
transcript: [' こんにちは 。', ' こんにちは あ 。', ' 今日 わ 。', ' こんにちは は 。', ' 今日 は 。']
---

Limitation

  • /audio topic must be 1channel, 16bit, 16000Hz and wave format.
  • DNN is computed on the CPU.
  • CPU usage is about 2% during non-speech and about 100% during speech.
CHANGELOG

Changelog for package julius_ros

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

  • Add DNN version julius (#259)
    • Fix order of args in julius.launch
    • Update README
    • Do not use git-lfs and revert unnecessary change
    • Add julius_ros test for DNN version
    • Use audio port instead of microphone input
    • Update README and julius.launch arg doc
    • Use Julius config file in julius_ros
    • Fix typo: input audio via port
  • Contributors: Naoya Yamaguchi

2.1.22 (2021-06-10)

2.1.21 (2020-08-19)

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

  • fix typo in julius_client.py (#203)
  • add more arg options for julius.launch (#144)
    • add julius_output args
    • add julius_args
    • add args for device,channels,depth,sample_rate,format
  • Contributors: Kei Okada, Shingo Kitagawa

2.1.18 (2020-07-20)

  • Fix for noetic (#200)
    • julius_ros: fix for python3, specially str <-> bytes
    • fix 2to3, with print, raise, exception
    • use package.xml format 3 for package contains python depends
  • Contributors: Kei Okada

2.1.17 (2020-04-16)

2.1.16 (2020-04-16)

2.1.15 (2019-12-12)

2.1.14 (2019-11-21)

  • set SoundRequest.volume for kinetic (#173)
  • Contributors: Kei OKada

2.1.13 (2019-07-10)

2.1.12 (2019-05-25)

2.1.11 (2018-08-29)

2.1.10 (2018-04-25)

2.1.9 (2018-04-24)

2.1.8 (2018-04-17)

2.1.7 (2018-04-09)

2.1.6 (2017-11-21)

2.1.5 (2017-11-20)

2.1.4 (2017-07-16)

  • [julius_ros] set timeout to self.play_sound(self.start_signal) (#116)
  • Contributors: Kanae Kochigami

2.1.3 (2017-07-07)

2.1.2 (2017-07-06)

2.1.1 (2017-07-05)

  • [julius_ros] fix: missing deps julius-voxforge (#109)
  • Contributors: Furushchev

2.1.0 (2017-07-02)

  • [julius_ros] support grammatical recognition (#102)
    • [julius_ros] fix: initial vocabulary
    • [julius_ros][julius_client.py] advertise service on grammar mode
    • [julius_ros][julius.test] delay play audio 10 seconds
    • [julius_ros] add missing deps
    • [julius_ros] split grammar test
    • [julius_ros] support grammar
    • [julius_ros] update conf for grammar recognition [julius_ros] escape xml value before parse [julius_ros] update launch files [julius_ros] use machine tag by default [julius_ros] support respawn; minor fix [julius_ros][julius_grammar.launch] add argument for topic name of \'speech_to_text\' [julius_ros] add command line tools to add grammar / vocabulary to julius engine [julius_ros][julius_client.py] add service to show julius engine status [julius_ros][julius_client.py] bugfix: INPUTONCHANGE WAIT [julius_ros][julius_client.py] cleanup change gram
  • [julius_ros] Update julius to 4.4.2 / add ROS interface (#99)
    • add julius_ros package
    • [julius_ros] add test
  • Contributors: Furushchev, Yuki Furuta

2.0.20 (2017-05-09)

2.0.19 (2017-02-22)

2.0.18 (2016-10-28)

2.0.17 (2016-10-22)

2.0.16 (2016-10-17)

2.0.15 (2016-10-16)

2.0.14 (2016-03-20)

2.0.13 (2015-12-15)

2.0.12 (2015-11-26)

2.0.11 (2015-10-07 14:16)

2.0.10 (2015-10-07 12:47)

2.0.9 (2015-09-26)

2.0.8 (2015-09-15)

2.0.7 (2015-09-14)

2.0.6 (2015-09-08)

2.0.5 (2015-08-23)

2.0.4 (2015-08-18)

2.0.3 (2015-08-01)

2.0.2 (2015-06-29)

2.0.1 (2015-06-19 21:21)

2.0.0 (2015-06-19 10:41)

1.0.71 (2015-05-17)

1.0.70 (2015-05-08)

1.0.69 (2015-05-05 12:28)

1.0.68 (2015-05-05 09:49)

1.0.67 (2015-05-03)

1.0.66 (2015-04-03)

1.0.65 (2015-04-02)

1.0.64 (2015-03-29)

1.0.63 (2015-02-19)

1.0.62 (2015-02-17)

1.0.61 (2015-02-11)

1.0.60 (2015-02-03 10:12)

1.0.59 (2015-02-03 04:05)

1.0.58 (2015-01-07)

1.0.57 (2014-12-23)

1.0.56 (2014-12-17)

1.0.55 (2014-12-09)

1.0.54 (2014-11-15)

1.0.53 (2014-11-01)

1.0.52 (2014-10-23)

1.0.51 (2014-10-20 16:01)

1.0.50 (2014-10-20 01:50)

1.0.49 (2014-10-13)

1.0.48 (2014-10-12)

1.0.47 (2014-10-08)

1.0.46 (2014-10-03)

1.0.45 (2014-09-29)

1.0.44 (2014-09-26 09:17)

1.0.43 (2014-09-26 01:08)

1.0.42 (2014-09-25)

1.0.41 (2014-09-23)

1.0.40 (2014-09-19)

1.0.39 (2014-09-17)

1.0.38 (2014-09-13)

1.0.37 (2014-09-08)

1.0.36 (2014-09-01)

1.0.35 (2014-08-16)

1.0.34 (2014-08-14)

1.0.33 (2014-07-28)

1.0.32 (2014-07-26)

1.0.31 (2014-07-23)

1.0.30 (2014-07-15)

1.0.29 (2014-07-02)

1.0.28 (2014-06-24)

1.0.27 (2014-06-10)

1.0.26 (2014-05-30)

1.0.25 (2014-05-26)

1.0.24 (2014-05-24)

1.0.23 (2014-05-23)

1.0.22 (2014-05-22)

1.0.21 (2014-05-20)

1.0.20 (2014-05-09)

1.0.19 (2014-05-06)

1.0.18 (2014-05-04)

1.0.17 (2014-04-20)

1.0.16 (2014-04-19 23:29)

1.0.15 (2014-04-19 20:19)

1.0.14 (2014-04-19 12:52)

1.0.13 (2014-04-19 11:06)

1.0.12 (2014-04-18 16:58)

1.0.11 (2014-04-18 08:18)

1.0.10 (2014-04-17)

1.0.9 (2014-04-12)

1.0.8 (2014-04-11)

1.0.7 (2014-04-10)

1.0.6 (2014-04-07)

1.0.5 (2014-03-31)

1.0.4 (2014-03-29)

1.0.3 (2014-03-19)

1.0.2 (2014-03-12)

1.0.1 (2014-03-07)

1.0.0 (2014-03-05)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/julius_grammar.launch
      • conf_file [default: $(find julius_ros)/conf/grammar.jconf]
      • hmm_def_file [default: /usr/share/julius-voxforge/acoustic/hmmdefs]
      • hmm_list_file [default: /usr/share/julius-voxforge/acoustic/tiedlist]
      • gram_path [default: $(find julius_ros)/data/udon]
      • module_port [default: 10500]
      • audio_port [default: 10501]
      • max_connection_retry [default: 0]
      • respawn [default: true]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
  • launch/julius.launch
      • conf_file [default: $(find julius_ros)/conf/main.jconf] — Common Julius config file for DNN version and GMM version. Other configs are specified in the args of run_julius.sh
      • module_port [default: 10500] — Port number when julius is started in module mode.
      • audio_port [default: 10501] — Port number for outputting audio to julius module.
      • max_connection_retry [default: 0] — Maximum number of times to try to connect to the server; if 0, it will try forever.
      • default_threshold [default: 0.9] — Threshold for judging the recognition result as correct
      • start_signal_action_timeout [default: 0.3] — Timeout[s] for sounding start signal
      • dnn [default: false] — set true if you use DNN version julius
      • hmm_list_file [default: $(find julius)/model/dnn/logicalTri.bin] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • hmm_def_file [default: $(find julius)/model/dnn/binhmm.SID] — HTK's HMM definition file containing all the phoneme definitions in one place
      • bingram_file [default: $(find julius)/model/lang_m/bccwj.60k.bingram] — Binary N-gram file (Language model file)
      • htkdic_file [default: $(find julius)/model/lang_m/bccwj.60k.pdp.htkdic] — Pronunciation dictionary for language models
      • dnn_julius_file [default: $(find julius)/julius.dnnconf] — Feature conversion configuration file for DNN (Julius alone) version
      • hmm_def_file [default: $(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs] — HTK's HMM definition file containing all the phoneme definitions in one place
      • hmm_list_file [default: $(find julius)/model/phone_m/logicalTri] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • word_file [default: $(find julius_ros)/data/udon.dic] — Word dictionary file (pronunciation dictionary file)
      • respawn [default: false]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
      • device [default: ] — device path, for example plughw:2,0
      • format [default: wave]
      • channels [default: 1]
      • depth [default: 16]
      • sample_rate [default: 16000]
      • julius_args [default: ] — set -debug to turn on julius debug
      • julius_output [default: log]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged julius_ros at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.24
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_3rdparty.git
VCS Type git
VCS Version master
Last Updated 2022-11-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The julius_ros package

Additional Links

No additional links.

Maintainers

  • Yuki Furuta

Authors

  • Yuki Furuta

julius_ros

ROS Interface for Julius speech recognition engine

Please see - Source: Julius source code - Japanese dictatoin kit: - Up-to-date doc: New but incomplete documentation - old doc: Old documentation

Create Workspace

mkdir -p catkin_ws/src
cd  catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_3rdparty https://github.com/jsk-ros-pkg/jsk_3rdparty.git -y
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build julius_ros
source devel/setup.bash


GMM version

Usage

roslaunch julius_ros julius.launch

Getting Recognition Results

rostopic echo /speech_to_text/transcript[0]
かけ
---
たぬき
---
わかめ
---

Service

rosservice call /speech_recognition "vocabulary:
  words: ['みそ', 'しょうゆ', 'とんこつ']
"
# speak one word in the list above
results:
  transcript: ['\xe3\x81\xbf\xe3\x81\x9d', '\xe3\x81\x97\xe3\x82\x87\xe3\x81\x86\xe3\x82\x86', '\xe3\x81\xa8\xe3\x82\x93\xe3\x81\x93\xe3\x81\xa4']
    confidence: [1.0, 0.0, 0.0]

Limitation (TODO)

  • Only 'ひらがな' is supported for phoneme estimation.
  • Only word list is supported.

Author

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>


DNN version

We use julius config file and DNN weights from OSDN.

For detail, please see julius/Makefile.dictation-kit

Usage

roslaunch julius_ros julius.launch dnn:=true

Getting Recognition Results

rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(lambda x: '\'%s\''%(x.decode('utf-8')), m.transcript))))" /speech_to_text
transcript: [' こんにちは 。', ' こんにちは あ 。', ' 今日 わ 。', ' こんにちは は 。', ' 今日 は 。']
---

Limitation

  • /audio topic must be 1channel, 16bit, 16000Hz and wave format.
  • DNN is computed on the CPU.
  • CPU usage is about 2% during non-speech and about 100% during speech.
CHANGELOG

Changelog for package julius_ros

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

  • Add DNN version julius (#259)
    • Fix order of args in julius.launch
    • Update README
    • Do not use git-lfs and revert unnecessary change
    • Add julius_ros test for DNN version
    • Use audio port instead of microphone input
    • Update README and julius.launch arg doc
    • Use Julius config file in julius_ros
    • Fix typo: input audio via port
  • Contributors: Naoya Yamaguchi

2.1.22 (2021-06-10)

2.1.21 (2020-08-19)

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

  • fix typo in julius_client.py (#203)
  • add more arg options for julius.launch (#144)
    • add julius_output args
    • add julius_args
    • add args for device,channels,depth,sample_rate,format
  • Contributors: Kei Okada, Shingo Kitagawa

2.1.18 (2020-07-20)

  • Fix for noetic (#200)
    • julius_ros: fix for python3, specially str <-> bytes
    • fix 2to3, with print, raise, exception
    • use package.xml format 3 for package contains python depends
  • Contributors: Kei Okada

2.1.17 (2020-04-16)

2.1.16 (2020-04-16)

2.1.15 (2019-12-12)

2.1.14 (2019-11-21)

  • set SoundRequest.volume for kinetic (#173)
  • Contributors: Kei OKada

2.1.13 (2019-07-10)

2.1.12 (2019-05-25)

2.1.11 (2018-08-29)

2.1.10 (2018-04-25)

2.1.9 (2018-04-24)

2.1.8 (2018-04-17)

2.1.7 (2018-04-09)

2.1.6 (2017-11-21)

2.1.5 (2017-11-20)

2.1.4 (2017-07-16)

  • [julius_ros] set timeout to self.play_sound(self.start_signal) (#116)
  • Contributors: Kanae Kochigami

2.1.3 (2017-07-07)

2.1.2 (2017-07-06)

2.1.1 (2017-07-05)

  • [julius_ros] fix: missing deps julius-voxforge (#109)
  • Contributors: Furushchev

2.1.0 (2017-07-02)

  • [julius_ros] support grammatical recognition (#102)
    • [julius_ros] fix: initial vocabulary
    • [julius_ros][julius_client.py] advertise service on grammar mode
    • [julius_ros][julius.test] delay play audio 10 seconds
    • [julius_ros] add missing deps
    • [julius_ros] split grammar test
    • [julius_ros] support grammar
    • [julius_ros] update conf for grammar recognition [julius_ros] escape xml value before parse [julius_ros] update launch files [julius_ros] use machine tag by default [julius_ros] support respawn; minor fix [julius_ros][julius_grammar.launch] add argument for topic name of \'speech_to_text\' [julius_ros] add command line tools to add grammar / vocabulary to julius engine [julius_ros][julius_client.py] add service to show julius engine status [julius_ros][julius_client.py] bugfix: INPUTONCHANGE WAIT [julius_ros][julius_client.py] cleanup change gram
  • [julius_ros] Update julius to 4.4.2 / add ROS interface (#99)
    • add julius_ros package
    • [julius_ros] add test
  • Contributors: Furushchev, Yuki Furuta

2.0.20 (2017-05-09)

2.0.19 (2017-02-22)

2.0.18 (2016-10-28)

2.0.17 (2016-10-22)

2.0.16 (2016-10-17)

2.0.15 (2016-10-16)

2.0.14 (2016-03-20)

2.0.13 (2015-12-15)

2.0.12 (2015-11-26)

2.0.11 (2015-10-07 14:16)

2.0.10 (2015-10-07 12:47)

2.0.9 (2015-09-26)

2.0.8 (2015-09-15)

2.0.7 (2015-09-14)

2.0.6 (2015-09-08)

2.0.5 (2015-08-23)

2.0.4 (2015-08-18)

2.0.3 (2015-08-01)

2.0.2 (2015-06-29)

2.0.1 (2015-06-19 21:21)

2.0.0 (2015-06-19 10:41)

1.0.71 (2015-05-17)

1.0.70 (2015-05-08)

1.0.69 (2015-05-05 12:28)

1.0.68 (2015-05-05 09:49)

1.0.67 (2015-05-03)

1.0.66 (2015-04-03)

1.0.65 (2015-04-02)

1.0.64 (2015-03-29)

1.0.63 (2015-02-19)

1.0.62 (2015-02-17)

1.0.61 (2015-02-11)

1.0.60 (2015-02-03 10:12)

1.0.59 (2015-02-03 04:05)

1.0.58 (2015-01-07)

1.0.57 (2014-12-23)

1.0.56 (2014-12-17)

1.0.55 (2014-12-09)

1.0.54 (2014-11-15)

1.0.53 (2014-11-01)

1.0.52 (2014-10-23)

1.0.51 (2014-10-20 16:01)

1.0.50 (2014-10-20 01:50)

1.0.49 (2014-10-13)

1.0.48 (2014-10-12)

1.0.47 (2014-10-08)

1.0.46 (2014-10-03)

1.0.45 (2014-09-29)

1.0.44 (2014-09-26 09:17)

1.0.43 (2014-09-26 01:08)

1.0.42 (2014-09-25)

1.0.41 (2014-09-23)

1.0.40 (2014-09-19)

1.0.39 (2014-09-17)

1.0.38 (2014-09-13)

1.0.37 (2014-09-08)

1.0.36 (2014-09-01)

1.0.35 (2014-08-16)

1.0.34 (2014-08-14)

1.0.33 (2014-07-28)

1.0.32 (2014-07-26)

1.0.31 (2014-07-23)

1.0.30 (2014-07-15)

1.0.29 (2014-07-02)

1.0.28 (2014-06-24)

1.0.27 (2014-06-10)

1.0.26 (2014-05-30)

1.0.25 (2014-05-26)

1.0.24 (2014-05-24)

1.0.23 (2014-05-23)

1.0.22 (2014-05-22)

1.0.21 (2014-05-20)

1.0.20 (2014-05-09)

1.0.19 (2014-05-06)

1.0.18 (2014-05-04)

1.0.17 (2014-04-20)

1.0.16 (2014-04-19 23:29)

1.0.15 (2014-04-19 20:19)

1.0.14 (2014-04-19 12:52)

1.0.13 (2014-04-19 11:06)

1.0.12 (2014-04-18 16:58)

1.0.11 (2014-04-18 08:18)

1.0.10 (2014-04-17)

1.0.9 (2014-04-12)

1.0.8 (2014-04-11)

1.0.7 (2014-04-10)

1.0.6 (2014-04-07)

1.0.5 (2014-03-31)

1.0.4 (2014-03-29)

1.0.3 (2014-03-19)

1.0.2 (2014-03-12)

1.0.1 (2014-03-07)

1.0.0 (2014-03-05)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/julius_grammar.launch
      • conf_file [default: $(find julius_ros)/conf/grammar.jconf]
      • hmm_def_file [default: /usr/share/julius-voxforge/acoustic/hmmdefs]
      • hmm_list_file [default: /usr/share/julius-voxforge/acoustic/tiedlist]
      • gram_path [default: $(find julius_ros)/data/udon]
      • module_port [default: 10500]
      • audio_port [default: 10501]
      • max_connection_retry [default: 0]
      • respawn [default: true]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
  • launch/julius.launch
      • conf_file [default: $(find julius_ros)/conf/main.jconf] — Common Julius config file for DNN version and GMM version. Other configs are specified in the args of run_julius.sh
      • module_port [default: 10500] — Port number when julius is started in module mode.
      • audio_port [default: 10501] — Port number for outputting audio to julius module.
      • max_connection_retry [default: 0] — Maximum number of times to try to connect to the server; if 0, it will try forever.
      • default_threshold [default: 0.9] — Threshold for judging the recognition result as correct
      • start_signal_action_timeout [default: 0.3] — Timeout[s] for sounding start signal
      • dnn [default: false] — set true if you use DNN version julius
      • hmm_list_file [default: $(find julius)/model/dnn/logicalTri.bin] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • hmm_def_file [default: $(find julius)/model/dnn/binhmm.SID] — HTK's HMM definition file containing all the phoneme definitions in one place
      • bingram_file [default: $(find julius)/model/lang_m/bccwj.60k.bingram] — Binary N-gram file (Language model file)
      • htkdic_file [default: $(find julius)/model/lang_m/bccwj.60k.pdp.htkdic] — Pronunciation dictionary for language models
      • dnn_julius_file [default: $(find julius)/julius.dnnconf] — Feature conversion configuration file for DNN (Julius alone) version
      • hmm_def_file [default: $(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs] — HTK's HMM definition file containing all the phoneme definitions in one place
      • hmm_list_file [default: $(find julius)/model/phone_m/logicalTri] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • word_file [default: $(find julius_ros)/data/udon.dic] — Word dictionary file (pronunciation dictionary file)
      • respawn [default: false]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
      • device [default: ] — device path, for example plughw:2,0
      • format [default: wave]
      • channels [default: 1]
      • depth [default: 16]
      • sample_rate [default: 16000]
      • julius_args [default: ] — set -debug to turn on julius debug
      • julius_output [default: log]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged julius_ros at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.24
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_3rdparty.git
VCS Type git
VCS Version master
Last Updated 2022-11-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The julius_ros package

Additional Links

No additional links.

Maintainers

  • Yuki Furuta

Authors

  • Yuki Furuta

julius_ros

ROS Interface for Julius speech recognition engine

Please see - Source: Julius source code - Japanese dictatoin kit: - Up-to-date doc: New but incomplete documentation - old doc: Old documentation

Create Workspace

mkdir -p catkin_ws/src
cd  catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_3rdparty https://github.com/jsk-ros-pkg/jsk_3rdparty.git -y
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build julius_ros
source devel/setup.bash


GMM version

Usage

roslaunch julius_ros julius.launch

Getting Recognition Results

rostopic echo /speech_to_text/transcript[0]
かけ
---
たぬき
---
わかめ
---

Service

rosservice call /speech_recognition "vocabulary:
  words: ['みそ', 'しょうゆ', 'とんこつ']
"
# speak one word in the list above
results:
  transcript: ['\xe3\x81\xbf\xe3\x81\x9d', '\xe3\x81\x97\xe3\x82\x87\xe3\x81\x86\xe3\x82\x86', '\xe3\x81\xa8\xe3\x82\x93\xe3\x81\x93\xe3\x81\xa4']
    confidence: [1.0, 0.0, 0.0]

Limitation (TODO)

  • Only 'ひらがな' is supported for phoneme estimation.
  • Only word list is supported.

Author

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>


DNN version

We use julius config file and DNN weights from OSDN.

For detail, please see julius/Makefile.dictation-kit

Usage

roslaunch julius_ros julius.launch dnn:=true

Getting Recognition Results

rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(lambda x: '\'%s\''%(x.decode('utf-8')), m.transcript))))" /speech_to_text
transcript: [' こんにちは 。', ' こんにちは あ 。', ' 今日 わ 。', ' こんにちは は 。', ' 今日 は 。']
---

Limitation

  • /audio topic must be 1channel, 16bit, 16000Hz and wave format.
  • DNN is computed on the CPU.
  • CPU usage is about 2% during non-speech and about 100% during speech.
CHANGELOG

Changelog for package julius_ros

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

  • Add DNN version julius (#259)
    • Fix order of args in julius.launch
    • Update README
    • Do not use git-lfs and revert unnecessary change
    • Add julius_ros test for DNN version
    • Use audio port instead of microphone input
    • Update README and julius.launch arg doc
    • Use Julius config file in julius_ros
    • Fix typo: input audio via port
  • Contributors: Naoya Yamaguchi

2.1.22 (2021-06-10)

2.1.21 (2020-08-19)

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

  • fix typo in julius_client.py (#203)
  • add more arg options for julius.launch (#144)
    • add julius_output args
    • add julius_args
    • add args for device,channels,depth,sample_rate,format
  • Contributors: Kei Okada, Shingo Kitagawa

2.1.18 (2020-07-20)

  • Fix for noetic (#200)
    • julius_ros: fix for python3, specially str <-> bytes
    • fix 2to3, with print, raise, exception
    • use package.xml format 3 for package contains python depends
  • Contributors: Kei Okada

2.1.17 (2020-04-16)

2.1.16 (2020-04-16)

2.1.15 (2019-12-12)

2.1.14 (2019-11-21)

  • set SoundRequest.volume for kinetic (#173)
  • Contributors: Kei OKada

2.1.13 (2019-07-10)

2.1.12 (2019-05-25)

2.1.11 (2018-08-29)

2.1.10 (2018-04-25)

2.1.9 (2018-04-24)

2.1.8 (2018-04-17)

2.1.7 (2018-04-09)

2.1.6 (2017-11-21)

2.1.5 (2017-11-20)

2.1.4 (2017-07-16)

  • [julius_ros] set timeout to self.play_sound(self.start_signal) (#116)
  • Contributors: Kanae Kochigami

2.1.3 (2017-07-07)

2.1.2 (2017-07-06)

2.1.1 (2017-07-05)

  • [julius_ros] fix: missing deps julius-voxforge (#109)
  • Contributors: Furushchev

2.1.0 (2017-07-02)

  • [julius_ros] support grammatical recognition (#102)
    • [julius_ros] fix: initial vocabulary
    • [julius_ros][julius_client.py] advertise service on grammar mode
    • [julius_ros][julius.test] delay play audio 10 seconds
    • [julius_ros] add missing deps
    • [julius_ros] split grammar test
    • [julius_ros] support grammar
    • [julius_ros] update conf for grammar recognition [julius_ros] escape xml value before parse [julius_ros] update launch files [julius_ros] use machine tag by default [julius_ros] support respawn; minor fix [julius_ros][julius_grammar.launch] add argument for topic name of \'speech_to_text\' [julius_ros] add command line tools to add grammar / vocabulary to julius engine [julius_ros][julius_client.py] add service to show julius engine status [julius_ros][julius_client.py] bugfix: INPUTONCHANGE WAIT [julius_ros][julius_client.py] cleanup change gram
  • [julius_ros] Update julius to 4.4.2 / add ROS interface (#99)
    • add julius_ros package
    • [julius_ros] add test
  • Contributors: Furushchev, Yuki Furuta

2.0.20 (2017-05-09)

2.0.19 (2017-02-22)

2.0.18 (2016-10-28)

2.0.17 (2016-10-22)

2.0.16 (2016-10-17)

2.0.15 (2016-10-16)

2.0.14 (2016-03-20)

2.0.13 (2015-12-15)

2.0.12 (2015-11-26)

2.0.11 (2015-10-07 14:16)

2.0.10 (2015-10-07 12:47)

2.0.9 (2015-09-26)

2.0.8 (2015-09-15)

2.0.7 (2015-09-14)

2.0.6 (2015-09-08)

2.0.5 (2015-08-23)

2.0.4 (2015-08-18)

2.0.3 (2015-08-01)

2.0.2 (2015-06-29)

2.0.1 (2015-06-19 21:21)

2.0.0 (2015-06-19 10:41)

1.0.71 (2015-05-17)

1.0.70 (2015-05-08)

1.0.69 (2015-05-05 12:28)

1.0.68 (2015-05-05 09:49)

1.0.67 (2015-05-03)

1.0.66 (2015-04-03)

1.0.65 (2015-04-02)

1.0.64 (2015-03-29)

1.0.63 (2015-02-19)

1.0.62 (2015-02-17)

1.0.61 (2015-02-11)

1.0.60 (2015-02-03 10:12)

1.0.59 (2015-02-03 04:05)

1.0.58 (2015-01-07)

1.0.57 (2014-12-23)

1.0.56 (2014-12-17)

1.0.55 (2014-12-09)

1.0.54 (2014-11-15)

1.0.53 (2014-11-01)

1.0.52 (2014-10-23)

1.0.51 (2014-10-20 16:01)

1.0.50 (2014-10-20 01:50)

1.0.49 (2014-10-13)

1.0.48 (2014-10-12)

1.0.47 (2014-10-08)

1.0.46 (2014-10-03)

1.0.45 (2014-09-29)

1.0.44 (2014-09-26 09:17)

1.0.43 (2014-09-26 01:08)

1.0.42 (2014-09-25)

1.0.41 (2014-09-23)

1.0.40 (2014-09-19)

1.0.39 (2014-09-17)

1.0.38 (2014-09-13)

1.0.37 (2014-09-08)

1.0.36 (2014-09-01)

1.0.35 (2014-08-16)

1.0.34 (2014-08-14)

1.0.33 (2014-07-28)

1.0.32 (2014-07-26)

1.0.31 (2014-07-23)

1.0.30 (2014-07-15)

1.0.29 (2014-07-02)

1.0.28 (2014-06-24)

1.0.27 (2014-06-10)

1.0.26 (2014-05-30)

1.0.25 (2014-05-26)

1.0.24 (2014-05-24)

1.0.23 (2014-05-23)

1.0.22 (2014-05-22)

1.0.21 (2014-05-20)

1.0.20 (2014-05-09)

1.0.19 (2014-05-06)

1.0.18 (2014-05-04)

1.0.17 (2014-04-20)

1.0.16 (2014-04-19 23:29)

1.0.15 (2014-04-19 20:19)

1.0.14 (2014-04-19 12:52)

1.0.13 (2014-04-19 11:06)

1.0.12 (2014-04-18 16:58)

1.0.11 (2014-04-18 08:18)

1.0.10 (2014-04-17)

1.0.9 (2014-04-12)

1.0.8 (2014-04-11)

1.0.7 (2014-04-10)

1.0.6 (2014-04-07)

1.0.5 (2014-03-31)

1.0.4 (2014-03-29)

1.0.3 (2014-03-19)

1.0.2 (2014-03-12)

1.0.1 (2014-03-07)

1.0.0 (2014-03-05)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/julius_grammar.launch
      • conf_file [default: $(find julius_ros)/conf/grammar.jconf]
      • hmm_def_file [default: /usr/share/julius-voxforge/acoustic/hmmdefs]
      • hmm_list_file [default: /usr/share/julius-voxforge/acoustic/tiedlist]
      • gram_path [default: $(find julius_ros)/data/udon]
      • module_port [default: 10500]
      • audio_port [default: 10501]
      • max_connection_retry [default: 0]
      • respawn [default: true]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
  • launch/julius.launch
      • conf_file [default: $(find julius_ros)/conf/main.jconf] — Common Julius config file for DNN version and GMM version. Other configs are specified in the args of run_julius.sh
      • module_port [default: 10500] — Port number when julius is started in module mode.
      • audio_port [default: 10501] — Port number for outputting audio to julius module.
      • max_connection_retry [default: 0] — Maximum number of times to try to connect to the server; if 0, it will try forever.
      • default_threshold [default: 0.9] — Threshold for judging the recognition result as correct
      • start_signal_action_timeout [default: 0.3] — Timeout[s] for sounding start signal
      • dnn [default: false] — set true if you use DNN version julius
      • hmm_list_file [default: $(find julius)/model/dnn/logicalTri.bin] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • hmm_def_file [default: $(find julius)/model/dnn/binhmm.SID] — HTK's HMM definition file containing all the phoneme definitions in one place
      • bingram_file [default: $(find julius)/model/lang_m/bccwj.60k.bingram] — Binary N-gram file (Language model file)
      • htkdic_file [default: $(find julius)/model/lang_m/bccwj.60k.pdp.htkdic] — Pronunciation dictionary for language models
      • dnn_julius_file [default: $(find julius)/julius.dnnconf] — Feature conversion configuration file for DNN (Julius alone) version
      • hmm_def_file [default: $(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs] — HTK's HMM definition file containing all the phoneme definitions in one place
      • hmm_list_file [default: $(find julius)/model/phone_m/logicalTri] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • word_file [default: $(find julius_ros)/data/udon.dic] — Word dictionary file (pronunciation dictionary file)
      • respawn [default: false]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
      • device [default: ] — device path, for example plughw:2,0
      • format [default: wave]
      • channels [default: 1]
      • depth [default: 16]
      • sample_rate [default: 16000]
      • julius_args [default: ] — set -debug to turn on julius debug
      • julius_output [default: log]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged julius_ros at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.24
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_3rdparty.git
VCS Type git
VCS Version master
Last Updated 2022-11-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The julius_ros package

Additional Links

No additional links.

Maintainers

  • Yuki Furuta

Authors

  • Yuki Furuta

julius_ros

ROS Interface for Julius speech recognition engine

Please see - Source: Julius source code - Japanese dictatoin kit: - Up-to-date doc: New but incomplete documentation - old doc: Old documentation

Create Workspace

mkdir -p catkin_ws/src
cd  catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_3rdparty https://github.com/jsk-ros-pkg/jsk_3rdparty.git -y
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build julius_ros
source devel/setup.bash


GMM version

Usage

roslaunch julius_ros julius.launch

Getting Recognition Results

rostopic echo /speech_to_text/transcript[0]
かけ
---
たぬき
---
わかめ
---

Service

rosservice call /speech_recognition "vocabulary:
  words: ['みそ', 'しょうゆ', 'とんこつ']
"
# speak one word in the list above
results:
  transcript: ['\xe3\x81\xbf\xe3\x81\x9d', '\xe3\x81\x97\xe3\x82\x87\xe3\x81\x86\xe3\x82\x86', '\xe3\x81\xa8\xe3\x82\x93\xe3\x81\x93\xe3\x81\xa4']
    confidence: [1.0, 0.0, 0.0]

Limitation (TODO)

  • Only 'ひらがな' is supported for phoneme estimation.
  • Only word list is supported.

Author

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>


DNN version

We use julius config file and DNN weights from OSDN.

For detail, please see julius/Makefile.dictation-kit

Usage

roslaunch julius_ros julius.launch dnn:=true

Getting Recognition Results

rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(lambda x: '\'%s\''%(x.decode('utf-8')), m.transcript))))" /speech_to_text
transcript: [' こんにちは 。', ' こんにちは あ 。', ' 今日 わ 。', ' こんにちは は 。', ' 今日 は 。']
---

Limitation

  • /audio topic must be 1channel, 16bit, 16000Hz and wave format.
  • DNN is computed on the CPU.
  • CPU usage is about 2% during non-speech and about 100% during speech.
CHANGELOG

Changelog for package julius_ros

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

  • Add DNN version julius (#259)
    • Fix order of args in julius.launch
    • Update README
    • Do not use git-lfs and revert unnecessary change
    • Add julius_ros test for DNN version
    • Use audio port instead of microphone input
    • Update README and julius.launch arg doc
    • Use Julius config file in julius_ros
    • Fix typo: input audio via port
  • Contributors: Naoya Yamaguchi

2.1.22 (2021-06-10)

2.1.21 (2020-08-19)

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

  • fix typo in julius_client.py (#203)
  • add more arg options for julius.launch (#144)
    • add julius_output args
    • add julius_args
    • add args for device,channels,depth,sample_rate,format
  • Contributors: Kei Okada, Shingo Kitagawa

2.1.18 (2020-07-20)

  • Fix for noetic (#200)
    • julius_ros: fix for python3, specially str <-> bytes
    • fix 2to3, with print, raise, exception
    • use package.xml format 3 for package contains python depends
  • Contributors: Kei Okada

2.1.17 (2020-04-16)

2.1.16 (2020-04-16)

2.1.15 (2019-12-12)

2.1.14 (2019-11-21)

  • set SoundRequest.volume for kinetic (#173)
  • Contributors: Kei OKada

2.1.13 (2019-07-10)

2.1.12 (2019-05-25)

2.1.11 (2018-08-29)

2.1.10 (2018-04-25)

2.1.9 (2018-04-24)

2.1.8 (2018-04-17)

2.1.7 (2018-04-09)

2.1.6 (2017-11-21)

2.1.5 (2017-11-20)

2.1.4 (2017-07-16)

  • [julius_ros] set timeout to self.play_sound(self.start_signal) (#116)
  • Contributors: Kanae Kochigami

2.1.3 (2017-07-07)

2.1.2 (2017-07-06)

2.1.1 (2017-07-05)

  • [julius_ros] fix: missing deps julius-voxforge (#109)
  • Contributors: Furushchev

2.1.0 (2017-07-02)

  • [julius_ros] support grammatical recognition (#102)
    • [julius_ros] fix: initial vocabulary
    • [julius_ros][julius_client.py] advertise service on grammar mode
    • [julius_ros][julius.test] delay play audio 10 seconds
    • [julius_ros] add missing deps
    • [julius_ros] split grammar test
    • [julius_ros] support grammar
    • [julius_ros] update conf for grammar recognition [julius_ros] escape xml value before parse [julius_ros] update launch files [julius_ros] use machine tag by default [julius_ros] support respawn; minor fix [julius_ros][julius_grammar.launch] add argument for topic name of \'speech_to_text\' [julius_ros] add command line tools to add grammar / vocabulary to julius engine [julius_ros][julius_client.py] add service to show julius engine status [julius_ros][julius_client.py] bugfix: INPUTONCHANGE WAIT [julius_ros][julius_client.py] cleanup change gram
  • [julius_ros] Update julius to 4.4.2 / add ROS interface (#99)
    • add julius_ros package
    • [julius_ros] add test
  • Contributors: Furushchev, Yuki Furuta

2.0.20 (2017-05-09)

2.0.19 (2017-02-22)

2.0.18 (2016-10-28)

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1.0.2 (2014-03-12)

1.0.1 (2014-03-07)

1.0.0 (2014-03-05)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/julius_grammar.launch
      • conf_file [default: $(find julius_ros)/conf/grammar.jconf]
      • hmm_def_file [default: /usr/share/julius-voxforge/acoustic/hmmdefs]
      • hmm_list_file [default: /usr/share/julius-voxforge/acoustic/tiedlist]
      • gram_path [default: $(find julius_ros)/data/udon]
      • module_port [default: 10500]
      • audio_port [default: 10501]
      • max_connection_retry [default: 0]
      • respawn [default: true]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
  • launch/julius.launch
      • conf_file [default: $(find julius_ros)/conf/main.jconf] — Common Julius config file for DNN version and GMM version. Other configs are specified in the args of run_julius.sh
      • module_port [default: 10500] — Port number when julius is started in module mode.
      • audio_port [default: 10501] — Port number for outputting audio to julius module.
      • max_connection_retry [default: 0] — Maximum number of times to try to connect to the server; if 0, it will try forever.
      • default_threshold [default: 0.9] — Threshold for judging the recognition result as correct
      • start_signal_action_timeout [default: 0.3] — Timeout[s] for sounding start signal
      • dnn [default: false] — set true if you use DNN version julius
      • hmm_list_file [default: $(find julius)/model/dnn/logicalTri.bin] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • hmm_def_file [default: $(find julius)/model/dnn/binhmm.SID] — HTK's HMM definition file containing all the phoneme definitions in one place
      • bingram_file [default: $(find julius)/model/lang_m/bccwj.60k.bingram] — Binary N-gram file (Language model file)
      • htkdic_file [default: $(find julius)/model/lang_m/bccwj.60k.pdp.htkdic] — Pronunciation dictionary for language models
      • dnn_julius_file [default: $(find julius)/julius.dnnconf] — Feature conversion configuration file for DNN (Julius alone) version
      • hmm_def_file [default: $(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs] — HTK's HMM definition file containing all the phoneme definitions in one place
      • hmm_list_file [default: $(find julius)/model/phone_m/logicalTri] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • word_file [default: $(find julius_ros)/data/udon.dic] — Word dictionary file (pronunciation dictionary file)
      • respawn [default: false]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
      • device [default: ] — device path, for example plughw:2,0
      • format [default: wave]
      • channels [default: 1]
      • depth [default: 16]
      • sample_rate [default: 16000]
      • julius_args [default: ] — set -debug to turn on julius debug
      • julius_output [default: log]

Messages

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Recent questions tagged julius_ros at answers.ros.org

Package Summary

Tags No category tags.
Version 2.1.24
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_3rdparty.git
VCS Type git
VCS Version master
Last Updated 2022-11-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The julius_ros package

Additional Links

No additional links.

Maintainers

  • Yuki Furuta

Authors

  • Yuki Furuta

julius_ros

ROS Interface for Julius speech recognition engine

Please see - Source: Julius source code - Japanese dictatoin kit: - Up-to-date doc: New but incomplete documentation - old doc: Old documentation

Create Workspace

mkdir -p catkin_ws/src
cd  catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_3rdparty https://github.com/jsk-ros-pkg/jsk_3rdparty.git -y
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build julius_ros
source devel/setup.bash


GMM version

Usage

roslaunch julius_ros julius.launch

Getting Recognition Results

rostopic echo /speech_to_text/transcript[0]
かけ
---
たぬき
---
わかめ
---

Service

rosservice call /speech_recognition "vocabulary:
  words: ['みそ', 'しょうゆ', 'とんこつ']
"
# speak one word in the list above
results:
  transcript: ['\xe3\x81\xbf\xe3\x81\x9d', '\xe3\x81\x97\xe3\x82\x87\xe3\x81\x86\xe3\x82\x86', '\xe3\x81\xa8\xe3\x82\x93\xe3\x81\x93\xe3\x81\xa4']
    confidence: [1.0, 0.0, 0.0]

Limitation (TODO)

  • Only 'ひらがな' is supported for phoneme estimation.
  • Only word list is supported.

Author

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>


DNN version

We use julius config file and DNN weights from OSDN.

For detail, please see julius/Makefile.dictation-kit

Usage

roslaunch julius_ros julius.launch dnn:=true

Getting Recognition Results

rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(lambda x: '\'%s\''%(x.decode('utf-8')), m.transcript))))" /speech_to_text
transcript: [' こんにちは 。', ' こんにちは あ 。', ' 今日 わ 。', ' こんにちは は 。', ' 今日 は 。']
---

Limitation

  • /audio topic must be 1channel, 16bit, 16000Hz and wave format.
  • DNN is computed on the CPU.
  • CPU usage is about 2% during non-speech and about 100% during speech.
CHANGELOG

Changelog for package julius_ros

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

  • Add DNN version julius (#259)
    • Fix order of args in julius.launch
    • Update README
    • Do not use git-lfs and revert unnecessary change
    • Add julius_ros test for DNN version
    • Use audio port instead of microphone input
    • Update README and julius.launch arg doc
    • Use Julius config file in julius_ros
    • Fix typo: input audio via port
  • Contributors: Naoya Yamaguchi

2.1.22 (2021-06-10)

2.1.21 (2020-08-19)

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

  • fix typo in julius_client.py (#203)
  • add more arg options for julius.launch (#144)
    • add julius_output args
    • add julius_args
    • add args for device,channels,depth,sample_rate,format
  • Contributors: Kei Okada, Shingo Kitagawa

2.1.18 (2020-07-20)

  • Fix for noetic (#200)
    • julius_ros: fix for python3, specially str <-> bytes
    • fix 2to3, with print, raise, exception
    • use package.xml format 3 for package contains python depends
  • Contributors: Kei Okada

2.1.17 (2020-04-16)

2.1.16 (2020-04-16)

2.1.15 (2019-12-12)

2.1.14 (2019-11-21)

  • set SoundRequest.volume for kinetic (#173)
  • Contributors: Kei OKada

2.1.13 (2019-07-10)

2.1.12 (2019-05-25)

2.1.11 (2018-08-29)

2.1.10 (2018-04-25)

2.1.9 (2018-04-24)

2.1.8 (2018-04-17)

2.1.7 (2018-04-09)

2.1.6 (2017-11-21)

2.1.5 (2017-11-20)

2.1.4 (2017-07-16)

  • [julius_ros] set timeout to self.play_sound(self.start_signal) (#116)
  • Contributors: Kanae Kochigami

2.1.3 (2017-07-07)

2.1.2 (2017-07-06)

2.1.1 (2017-07-05)

  • [julius_ros] fix: missing deps julius-voxforge (#109)
  • Contributors: Furushchev

2.1.0 (2017-07-02)

  • [julius_ros] support grammatical recognition (#102)
    • [julius_ros] fix: initial vocabulary
    • [julius_ros][julius_client.py] advertise service on grammar mode
    • [julius_ros][julius.test] delay play audio 10 seconds
    • [julius_ros] add missing deps
    • [julius_ros] split grammar test
    • [julius_ros] support grammar
    • [julius_ros] update conf for grammar recognition [julius_ros] escape xml value before parse [julius_ros] update launch files [julius_ros] use machine tag by default [julius_ros] support respawn; minor fix [julius_ros][julius_grammar.launch] add argument for topic name of \'speech_to_text\' [julius_ros] add command line tools to add grammar / vocabulary to julius engine [julius_ros][julius_client.py] add service to show julius engine status [julius_ros][julius_client.py] bugfix: INPUTONCHANGE WAIT [julius_ros][julius_client.py] cleanup change gram
  • [julius_ros] Update julius to 4.4.2 / add ROS interface (#99)
    • add julius_ros package
    • [julius_ros] add test
  • Contributors: Furushchev, Yuki Furuta

2.0.20 (2017-05-09)

2.0.19 (2017-02-22)

2.0.18 (2016-10-28)

2.0.17 (2016-10-22)

2.0.16 (2016-10-17)

2.0.15 (2016-10-16)

2.0.14 (2016-03-20)

2.0.13 (2015-12-15)

2.0.12 (2015-11-26)

2.0.11 (2015-10-07 14:16)

2.0.10 (2015-10-07 12:47)

2.0.9 (2015-09-26)

2.0.8 (2015-09-15)

2.0.7 (2015-09-14)

2.0.6 (2015-09-08)

2.0.5 (2015-08-23)

2.0.4 (2015-08-18)

2.0.3 (2015-08-01)

2.0.2 (2015-06-29)

2.0.1 (2015-06-19 21:21)

2.0.0 (2015-06-19 10:41)

1.0.71 (2015-05-17)

1.0.70 (2015-05-08)

1.0.69 (2015-05-05 12:28)

1.0.68 (2015-05-05 09:49)

1.0.67 (2015-05-03)

1.0.66 (2015-04-03)

1.0.65 (2015-04-02)

1.0.64 (2015-03-29)

1.0.63 (2015-02-19)

1.0.62 (2015-02-17)

1.0.61 (2015-02-11)

1.0.60 (2015-02-03 10:12)

1.0.59 (2015-02-03 04:05)

1.0.58 (2015-01-07)

1.0.57 (2014-12-23)

1.0.56 (2014-12-17)

1.0.55 (2014-12-09)

1.0.54 (2014-11-15)

1.0.53 (2014-11-01)

1.0.52 (2014-10-23)

1.0.51 (2014-10-20 16:01)

1.0.50 (2014-10-20 01:50)

1.0.49 (2014-10-13)

1.0.48 (2014-10-12)

1.0.47 (2014-10-08)

1.0.46 (2014-10-03)

1.0.45 (2014-09-29)

1.0.44 (2014-09-26 09:17)

1.0.43 (2014-09-26 01:08)

1.0.42 (2014-09-25)

1.0.41 (2014-09-23)

1.0.40 (2014-09-19)

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1.0.33 (2014-07-28)

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1.0.3 (2014-03-19)

1.0.2 (2014-03-12)

1.0.1 (2014-03-07)

1.0.0 (2014-03-05)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/julius_grammar.launch
      • conf_file [default: $(find julius_ros)/conf/grammar.jconf]
      • hmm_def_file [default: /usr/share/julius-voxforge/acoustic/hmmdefs]
      • hmm_list_file [default: /usr/share/julius-voxforge/acoustic/tiedlist]
      • gram_path [default: $(find julius_ros)/data/udon]
      • module_port [default: 10500]
      • audio_port [default: 10501]
      • max_connection_retry [default: 0]
      • respawn [default: true]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
  • launch/julius.launch
      • conf_file [default: $(find julius_ros)/conf/main.jconf] — Common Julius config file for DNN version and GMM version. Other configs are specified in the args of run_julius.sh
      • module_port [default: 10500] — Port number when julius is started in module mode.
      • audio_port [default: 10501] — Port number for outputting audio to julius module.
      • max_connection_retry [default: 0] — Maximum number of times to try to connect to the server; if 0, it will try forever.
      • default_threshold [default: 0.9] — Threshold for judging the recognition result as correct
      • start_signal_action_timeout [default: 0.3] — Timeout[s] for sounding start signal
      • dnn [default: false] — set true if you use DNN version julius
      • hmm_list_file [default: $(find julius)/model/dnn/logicalTri.bin] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • hmm_def_file [default: $(find julius)/model/dnn/binhmm.SID] — HTK's HMM definition file containing all the phoneme definitions in one place
      • bingram_file [default: $(find julius)/model/lang_m/bccwj.60k.bingram] — Binary N-gram file (Language model file)
      • htkdic_file [default: $(find julius)/model/lang_m/bccwj.60k.pdp.htkdic] — Pronunciation dictionary for language models
      • dnn_julius_file [default: $(find julius)/julius.dnnconf] — Feature conversion configuration file for DNN (Julius alone) version
      • hmm_def_file [default: $(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs] — HTK's HMM definition file containing all the phoneme definitions in one place
      • hmm_list_file [default: $(find julius)/model/phone_m/logicalTri] — The logicalTri defines the correspondence between the logical triphone and the physical triphone
      • word_file [default: $(find julius_ros)/data/udon.dic] — Word dictionary file (pronunciation dictionary file)
      • respawn [default: false]
      • launch_audio_capture [default: true]
      • launch_sound_play [default: true]
      • sound_play_topic [default: sound_play]
      • speech_to_text_topic [default: speech_to_text]
      • machine [default: localhost]
      • use_machine [default: true]
      • device [default: ] — device path, for example plughw:2,0
      • format [default: wave]
      • channels [default: 1]
      • depth [default: 16]
      • sample_rate [default: 16000]
      • julius_args [default: ] — set -debug to turn on julius debug
      • julius_output [default: log]

Messages

No message files found.

Services

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Plugins

No plugins found.

Recent questions tagged julius_ros at answers.ros.org