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# How can i send the 2d navigation goal to rviz by voice command

How can i send the 2d navigation goal to rviz by voice command.

I plan to use pocketsphinx

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pocketsphinx will work. I've done it that way. But of course the goal gets sent to move_base, not to RVIZ.

In my case, I created a node that takes the desired goal location from pocketsphinx as a string("door", "kitchen", etc) and lookup the pose information from a table, then send that pose goal to navigation stack. I discussed sending the goal in an answer to this post: https://answers.ros.org/question/2594...

*Update after follow on question: *

In comment below you ask how to do this in reality, but if you have it working on turtlebot then you should be able to extend to move_base as described above. It depends on how you want to do the voice the commands or rather what type of commends you want to give. Do you want to:

1. give it a goal location using coordinates and an orientation, like"go to ten dot 23 X 2 dot 1 Y 2 dot 5 Z"?
2. give predefined place in the map names and then you simply say the name (as I describe above) like "kitchen"
3. say "forward" "back" and essentially telop it around with your voice?

You may approach it differently given what it is you want to do. It sounds like you want autonomous navigation so I think option 3 is out so you'll need to decide between option 1 and 2.

I'll assume option 2 since option 1 really males no sense to me even though it is what you asked for.

Step 1 - add the names of the predefined locations to pocketsphinx You'll use the voice_cmd.launch file for starting. voice_cmd.lm and voice_cmd.dic will both need updating with the new words you need pocketsphinx to recognize. Here is my voice_cmd.dic file to show pocketsphinx how to pronounce the words. This file includes words that did not come with the tutorial.

I got the phonetic spellings from this web page: http://www.speech.cs.cmu.edu/cgi-bin/...

BACK    B AE K
BACKWARD    B AE K W ER D
FORWARD F AO R W ER D
FULL    F UH L
HALF    HH AE F
HALT    HH AO L T
LEFT    L EH F T
MOVE    M UW V
RIGHT   R AY T
SPEED   S P IY D
STOP    S T AA P
COFFEE  K AA F IY
COFFEE  K AO F IY
TABLE   T EY B AH L
KITCHEN K IH CH AH N
ROBOT   R OW B AA T
DINING  D AY N IH NG
CANCEL  K AE N S AH L
REBECCA R AH B EH K AH
LASER   L EY Z ER
ON  AA N
OFF AO F
SING    S IH NG
FRONT   F R AH N T
DOOR    D AO R
THE DH AH
BAR B AA R
REMOTE  R IH M OW T
CONTROL K AH N T R OW L
WAKE    W EY K
SLEEP   S L IY P


The new words need to be added to .LM file and ...

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Thanks @billy Can you remember the pocketsphinx you used ? cause i am having issues... Do you have your files in a github repository or something? I could use it as a referendce. Thanks alot again much appreciate

( 2020-05-01 21:42:18 -0500 )edit

Hi, Yes to move_base using voice..

I have been able to successfully install pocketsphinx with basic commands like back, forward and all. I can control turtlebot in the simulation..

How do i use this to actually control my robot in reality? ps: my robot already does autonomous navigation but by sending goals on rviz @billy

( 2020-05-02 01:16:43 -0500 )edit

( 2020-05-02 23:46:36 -0500 )edit

Thank you very much.. This was detailed and helpful.. used all you wrote to crosscheck what i had done so far.. much appreciated...

I am gonna post a link to the new question so you can review my codes for the voice to move_base control.. Thanks...

( 2020-05-03 00:44:37 -0500 )edit

Thanks alot for all the help thus far.. Much appreciated

( 2020-05-03 00:53:42 -0500 )edit

Hi @billy I have been at this all day and night and cant get to be able to use the voice (position 3 and 4) to send goals to the move_base..

( 2020-05-03 13:09:30 -0500 )edit