talkback.py

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#!/usr/bin/env python

"""
    talkback.py - Say back what is heard by the pocketsphinx recognizer.
"""

import roslib; roslib.load_manifest('pi_speech_tutorial')
import rospy
from std_msgs.msg import String

from sound_play.libsoundplay import SoundClient

class TalkBack:
    def __init__(self):
        rospy.on_shutdown(self.cleanup)
          
        self.voice = rospy.get_param("~voice", "voice_don_diphone")
        self.wavepath = rospy.get_param("~wavepath", "")
        
        # Create the sound client object
        self.soundhandle = SoundClient()
        
        rospy.sleep(1)
        self.soundhandle.stopAll()
        
        # Announce that we are ready for input
        self.soundhandle.playWave(self.wavepath + "/R2D2a.wav")
        rospy.sleep(1)
        self.soundhandle.say("Ready", self.voice)
        
        rospy.loginfo("Say one of the navigation commands...")

        # Subscribe to the recognizer output
        rospy.Subscriber('/recognizer/output', String, self.talkback)
        
    def talkback(self, msg):
        # Print the recognized words on the screen
        rospy.loginfo(msg.data)
        
        # Speak the recognized words in the selected voice
        self.soundhandle.say(msg.data, self.voice)
        
        # Uncomment to play one of the built-in sounds
        #rospy.sleep(2)
        #self.soundhandle.play(5)
        
        # Uncomment to play a wave file
        #rospy.sleep(2)
        #self.soundhandle.playWave(self.wavepath + "/R2D2a.wav")

    def cleanup(self):
        rospy.loginfo("Shutting down talkback node...")

if __name__=="__main__":
    rospy.init_node('talkback')
    try:
        TalkBack()
        rospy.spin()
    except:
        pass