mycroft_ros repository

Repository Summary

Checkout URI
VCS Type git
VCS Version devel
Last Updated 2021-04-24
CI status No Continuous Integration
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Name Version
mycroft_ros 0.0.1



This package provides capability to run the Text-To-Speech, Speech-To-Text and Skill functionality of Mycroft AI as ROS nodes providing topics, services and actions for communication.

The package makes use of the catkin_virtualenv library to run the Mycroft nodes within a seperate Python virtual environment


  1. Install Python virtualenvironment
sudo apt install python3-venv

  1. Install packaging using pip
python -m pip install packaging --user

  1. Clone catkin_virtualenv into your workspace
cd workspace/src
git clone
cd catkin_virtualenv
git checkout 0.5.2

  1. If you're using Python 3 you will need to edit the catkin_virtualenv/catkin_virtualenv/scripts/global_requirements file of the catkin_virtualenv package by changing the line import Queue as Queue at the top of the file to from queue import Queue
  1. Install catkin_virtualenv using pip.
cd workspace/src/catkin_virtualenv/catkin_virtualenv/
python install

  1. Install catkin_virtualenv
cd workspace
catkin_make install --only-pkg-with-deps catkin_virtualenv

  1. Run the

  1. Build mycroft_ros
catkin_make --only-pkg-with-deps mycroft_ros

Mycroft Setup

Mycroft can be configured using either ~/.mycroft/mycroft.conf or /etc/mycroft/mycroft.conf

Launching ROS Nodes

To launch all Mycroft nodes run mycroft.launch which will lanch the following nodes * * * *

roslaunch mycroft_ros mycroft.launch

Topics, Services and Actions


  • mycroft/speak (std_msgs/String) - String for Mycroft TTS to read
  • mycroft/utterance (std_msgs/String) - String to pass to the intent service of Mycroft
  • mycroft/speech (mycroft_ros/Speech) - List of Strings received from Mycroft STT
  • mycroft/remove_skill (std_msgs/String) - Path of skill to remove from SkillManager as a String ### Services
  • mycroft/register_skill (mycroft_ros/MycroftSkill) - Register the skill in the SkillManager ### Actions
  • mycroft/get_response (mycroft_ros/GetResponse) - Reads dialog before recording and returning user response
  • mycroft/ask_yesno (mycroft_ros/GetResponse) - Reads dialog before recording and returning "yes" or "no" based on user response ## Example ### Skill/Node Structure ROS nodes that are to be used as MycroftSkill's should be placed within their own directory with relevent 'vocab', 'dialog' and 'regex' directories to use for intents and entities ### Using the RosMycroftSkill The mycroft_ros Python module provides helper functions and classes for convenience such as the RosMycroftSkill which can be used to register a node as a MycroftSkill in the Mycroft SkillManager
class ExampleSkill(RosMycroftSkill):

    def __init__(self):
        super(ExampleSkill, self).__init__("/home/vagrant/dev/catkin_ws/src/mycroft_ros/scripts/example")
        self.register_intent(IntentBuilder("MycroftRos").require("mycroft").require("ros"), self.example)
        self.register_intent_file("mytest.intent", self.mytest)
        if self.initialise():
            rospy.loginfo("MycroftSkill created")
            rospy.loginfo("Error creating MycroftSkill")

    def example(self, data):
        rospy.loginfo("MycroftRos callback")
        user_response = self.get_response(dialog="say something cool to me")
        rospy.loginfo("Response: " + user_response)

    def mytest(self, data):
        rospy.loginfo("mytest callback")
        rospy.loginfo("testentity: " + data.entities.get("testentity", ""))

if __name__ == "__main__":
    example = ExampleSkill()


  • add context to Skills
  • add speak_dialog to Skills
  • add events / repeating events to Skills
  • error handling for skills


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