A simple generic TTS speak simulator ROS Node. Other to be used Speech engines can also be configured.

One or both of these are pre installed

• espeak (default)
• spd-say

# installation
sudo apt-get update
# espeak
sudo apt-get install espeak
# spd-say
sudo apt-get install speech-dispatcher

# run in your ros2_ws/src folder
git clone https://gitlab.com/bob-ros2/rosspeaks.git
cd ..
colcon build
. install/setup.bash

# start the node.
ros2 run rosspeaks speak.py

~pitch (int, default: 60)
Pitch of voice.

~rate (int, default: 90)
Rate of voice.

~lang (string, default: "en+f3")
Language type. The value format depends on the used speech engine.

~level (int, default: 70)
Level of voice.

~suppress (Bool, default: False)
Possibility to suppress the speak execution. If True all new messages are discarded until it's set back to False.

~exec (string, default: "espeak")
To be used speach executable. Integrated speech engines are 'espeak' and 'spdsay'.
If providing a custom executable it will be called in the followng way:
script <pitch> <rate> <lang> <level> <text>

~speak (std_msgs/String)
Text to speak. For better control use the action if a finished feedback is needed or use the published speaking topic.

~speaking (std_msgs/Bool)
Flag which indicates if speaking is ongoing. The message is letched to see the last state at any time.

~speak
Perfoms speaking. The action ends when speaking has finished. See action/Speaking.action for details.

~pitch
~rate
~lang
~level
~suppress
~exec

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.
Please make sure to update tests as appropriate.

Apache2.0