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Export audio input from local machine to remote robot?

asked 2016-03-16 15:37:01 -0500

pgigioli gravatar image

I am currently working with a turtlebot2 and the sound drivers, specifically the jack server, are broken and I've already spent hours trying to fix them. My local computer, however, has working sound drivers and I was wondering if there was a way to export the audio input functionality from the robot to the computer. In other words, I want to be able to speak into a mic connected to my computer, have the audio processed by my computer, and then any nodes on the robot requiring that audio input will receive it over ssh. I already have the ROS_MASTER_URI set to the remote robot and I am able to run rviz from my computer and control navigation of the robot. Any ideas?


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answered 2016-03-16 16:07:10 -0500

ahendrix gravatar image

What are you doing with the audio?

If you're doing speed recognition, you could run the ROS speech recognition node on your desktop, with the ROS_MASTER_URI set to the turtlebot, and its ROS messages could be subscribed to by any node on the turtlebot.

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I am trying to run pocketsphinx so this would work. However, when I try to run the robocup.launch from the pocketsphinx package, I get the error "ImportError: No module named pygtk". pygtk2 is installed on both the computer and the robot so I am not sure why it cannot find the module.

pgigioli gravatar image pgigioli  ( 2016-03-16 16:57:07 -0500 )edit

The issue might be that my PYTHONPATH and my ROS_PACKAGE_PATH are not set correctly but I have no idea how I would fix this.

pgigioli gravatar image pgigioli  ( 2016-03-16 17:00:03 -0500 )edit

Which version of ROS and Linux are you running? How did you install pocketsphinx, from source or through apt?

ahendrix gravatar image ahendrix  ( 2016-03-16 18:01:16 -0500 )edit

Indigo and Ubuntu 14.04. I installed pocketsphinx through apt-get and made sure it was part of the indigo distribution.

pgigioli gravatar image pgigioli  ( 2016-03-17 08:48:05 -0500 )edit

Sounds like an issue with pocketsphinx. You may want to ask a new question or file a bug report. It really should work out of the box if you installed it through apt.

ahendrix gravatar image ahendrix  ( 2016-03-17 12:51:09 -0500 )edit

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Asked: 2016-03-16 15:37:01 -0500

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Last updated: Mar 16 '16