respeaker_ros

A ROS Package for Respeaker Mic Array

Supported Devices

• Respeaker Mic Array v2.0

  

Preparation

1. Install this package

   Assumed that ROS is properly installed.

   You can install this package via apt-get.

    sudo apt-get install ros-$ROS_DISTRO-respeaker-ros
    

Or you can also build from the source.

    mkdir -p ~/catkin_ws/src && ~/catkin_ws/src
    git clone https://github.com/jsk-ros-pkg/jsk_3rdparty.git
    cd ~/catkin_ws
    source /opt/ros/kinetic/setup.bash
    rosdep install --from-paths src -i -r -n -y
    catkin config --init
    catkin build respeaker_ros
    source ~/catkin_ws/devel/setup.bash
    

1. Register respeaker udev rules

   Normally, we cannot access USB device without permission from user space. Using udev, we can give the right permission on only respeaker device automatically.

   Please run the command as followings to install setting file:

    roscd respeaker_ros
    sudo cp -f $(rospack find respeaker_ros)/config/60-respeaker.rules /etc/udev/rules.d/60-respeaker.rules
    sudo systemctl restart udev
    

And then re-connect the device.

1. Update firmware

    git clone https://github.com/respeaker/usb_4_mic_array.git
    cd usb_4_mic_array
    sudo python dfu.py --download 6_channels_firmware.bin  # The 6 channels version 
    

How to use

1. Run executables

    roslaunch respeaker_ros sample_respeaker.launch
    rostopic echo /sound_direction     # Result of DoA
    rostopic echo /sound_localization  # Result of DoA as Pose
    rostopic echo /is_speeching        # Result of VAD
    rostopic echo /audio               # Raw audio
    rostopic echo /speech_audio        # Audio data while speeching
    rostopic echo /speech_to_text      # Voice recognition
    # Voice recognition result for Japanese
    rostopic echo --filter "print(m.transcript[0])" /speech_to_text
    rostopic echo --filter "print('transcript: [%s]\n---'%(', '.join(map(str, m.transcript))))" /speech_to_text
    rostopic echo /speech_to_text | ascii2uni -a U -q
    

You can also set various parameters via `dynamic_reconfigure`.

    sudo apt install ros-kinetic-rqt-reconfigure  # Install if not
    rosrun rqt_reconfigure rqt_reconfigure
    

To set LED color, publish desired color:

    rostopic pub /status_led std_msgs/ColorRGBA "r: 0.0
    g: 0.0
    b: 1.0
    a: 0.3"
    

Use cases

Voice Recognition

• ros_speech_recognition
• julius_ros

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Changelog for package respeaker_ros

2.1.31 (2025-05-13)

2.1.30 (2025-05-10)

2.1.29 (2025-01-05)

• Support ros-o / Ubuntu 22.04 (#512)
  • [respeaker_ros][diamondback] [ros-o] only use STREQUAL to compare ROS_DISTRO in cmake
• Contributors: Kei Okada

2.1.28 (2023-07-24)

2.1.27 (2023-06-24)

• fix package.xml/CMakeLists.txt to supress catkin_lint errors (#479)
• Contributors: Kei Okada

2.1.26 (2023-06-14)

• [respeaker_ros] importing does not succeed (#477)
• respeaker_ros: Fix test. we use rosrun .… to run scripts (#478)
• Contributors: Kei Okada, Soonhyo Kim

2.1.25 (2023-06-08)

• add test to check if ros node is loadable (#463)
• [respeaker_ros] add FileNotFoundError in respeaker for python3 (#428)
• [respeaker_ros] Stop timer on shutdown (#385)
• [ros_speech_recogniton, respeaker_ros] add confidence field (#411)
• [#405 and #410] Fix CI (#415)
• GithubAction: add test for aarch64(melodic) / indigo (arm64) (#365)
  • pgm_learner/respeaker_ros/ros_speech_recognition/rosping: increase time-limit/wait-time
• [respeaker_ros] Add documentation for displaying Japanese [/speech_to_text]{.title-ref} (#352)
• [respeaker_ros] Display helpful setting command when udev rule is not set (#351)
• Using RespeakerInterface instead of init_respeaker (#305)
• respeaker_ros for Python 2.x and 3.x (#284)
• Contributors: Aoi Nakane, Dirk Gorissen, Kei Okada, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Yoshiki Obinata

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

2.1.22 (2021-06-10)

• [respeaker_ros] Specify correct Python version in package.xml (#247)

  • Fixes typo introduced in https://github.com/jsk-ros-pkg/jsk_3rdparty/commit/39be21894a38112a1633cf8385caf079c35536ff

• Add respawn_delay to respeaker_node.py to reduce CPU load (#241)

  • Kill respeaker_node.py when USBError occur to reduce CPU load

• [respeaker_ros] fix default sound_play action name of speech_to_text.py (#239)

• Mistakes I found when I tried to use respeaker_ros on hirovision (#217)

  • add speech_recognition_msgs
  • change the name from respeaker.launch to sample_respeaker.launch

• Contributors: Koki Shinjo, Miyabi Tanemoto, Naoya Yamaguchi, Shun Hasegawa

2.1.21 (2020-08-19)

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

2.1.18 (2020-07-20)

• Fix for noetic (#200)

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