respeaker_ros2

A ROS 2 Package for Respeaker Mic Array

Supported Devices

• Respeaker Mic Array v2.0

  

Preparation

1. Install this package

   mkdir -p ~/ament_ws/src && ~/ament_ws/src
   git clone https://github.com/hello-chintan/respeaker_ros2.git
   git clone https://github.com/hello-chintan/audio_common.git
   cd ~/ament_ws
   source /opt/ros/iron/setup.bash
   rosdep install --from-paths src --ignore-src -i -r -n -y
   colcon build
   source install/setup.bash

2. Register respeaker udev rules

   Normally, we cannot access USB device without permission from user space. Using udev, we can give the right permission on only respeaker device automatically.

   Please run the command as followings to install setting file:

   cd ~/ament_ws/src/respeaker_ros2
   sudo cp -f ~/ament_ws/src/respeaker_ros2/config/60-respeaker.rules /etc/udev/rules.d/60-respeaker.rules
   sudo systemctl restart udev

   And then re-connect the device.

3. Install python requirements

   cd ~/ament_ws/src/respeaker_ros2
   sudo pip install -r requirements.txt

4. Update firmware

   git clone https://github.com/respeaker/usb_4_mic_array.git
   cd usb_4_mic_array
   sudo python dfu.py --download 6_channels_firmware.bin  # The 6 channels version 

How to use

1. Run executables

   ros2 launch respeaker_ros2 respeaker.launch
   ros2 topic echo /sound_direction     # Result of DoA
   ros2 topic echo /sound_localization  # Result of DoA as Pose
   ros2 topic echo /is_speeching        # Result of VAD
   ros2 topic echo /audio               # Raw audio
   ros2 topic echo /speech_audio        # Audio data while speeching

   To set LED color, publish desired color:

   ros2 topic pub /status_led std_msgs/msg/ColorRGBA "r: 0.0
   g: 0.0
   b: 1.0
   a: 0.3"

Use cases

Voice Recognition

• ros_speech_recognition
• julius_ros

Notes

The configuration file for dynamic_reconfigure in this package is created automatically by reading the parameters from devices. Though it will be rare case, the configuration file can be updated as followings:

1. Connect the device to the computer.

2. Run the generator script.

   rosrun  respeaker_ros respeaker_gencfg.py

3. You will see the updated configuration file at $(rospack find respeaker_ros)/cfg/Respeaker.cfg.

Author

Yuki Furuta <[email protected]>

License

Apache License