Picovoice ROS

This repository contains drivers and ROS interfaces for the Picovoice libraries. Input files can be managed via the Picovoice console.

Installation

Debians

Prerequisites: Working ROS Noetic environment

sudo apt-get install ros-noetic-picovoice-driver

Source

roscd && cd ../src  # Navigate to the 'src' dir of your catkin workspace 
git clone https://github.com/reinzor/picovoice_ros.git
cd picovoice_ros
rosdep install --from-path -y -i .
catkin_make  # Compile workspace (or catkin build)

Examples

Start a roscore:

roscore

Keyword recognition (Porcupine)

Start the porcupine recognizer from the picovoice_driver package

Access key: https://console.picovoice.ai/

rosrun picovoice_driver picovoice_driver_porcupine _access_key:=[YOUR_ACCESS_KEY_HERE]

Start the axclient in order to evaluate the action interface of the driver

rosrun actionlib_tools axclient.py /get_keyword  # ros-noetic-actionlib-tools (for earlier distro's it should be included in the 'actionlib` package)

Set the following as Goal

keywords: [{
  name: "porcupine",
  url: "porcupine_linux"
}]

press SEND GOAL, and say "Porcupine"

Intent recognition (Rhino)

Start the rhino recognizer from the picovoice_driver package

Access key: https://console.picovoice.ai/

rosrun picovoice_driver picovoice_driver_rhino _access_key:=[YOUR_ACCESS_KEY_HERE]

Start the axclient in order to evaluate the action interface of the driver

rosrun actionlib_tools axclient.py /get_intent  # ros-noetic-actionlib-tools (for earlier distro's it should be included in the 'actionlib` package)

Set the following as Goal

context_url: 'coffee_maker_linux'

and press SEND GOAL, and say "Small cappuccino"