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33 lines
1.1 KiB
33 lines
1.1 KiB
<launch>
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<!-- This launch file is based on sample_respeaker.launch from the official respeaker_ros package. -->
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<!-- publish tf of respeaker -->
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<arg name="publish_tf" default="true"/>
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<!-- launch sound_play node -->
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<arg name="launch_soundplay" default="true"/>
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<!-- input speech topic of speech_to_text.py -->
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<arg name="audio" default="speech_audio"/>
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<!-- output text topic of speech_to_text.py -->
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<arg name="speech_to_text" default="speech_to_text"/>
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<!-- langage used in speech_to_text.py -->
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<arg name="language" default="en-US"/>
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<node name="respeaker_node" pkg="respeaker_ros" type="respeaker_node.py"
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respawn="true"/>
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<node if="$(arg launch_soundplay)"
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name="sound_play" pkg="sound_play" type="soundplay_node.py"/>
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<node name="speech_to_text" pkg="respeaker_ros" type="speech_to_text.py"
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output="screen">
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<remap from="audio" to="$(arg audio)"/>
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<remap from="speech_to_text" to="$(arg speech_to_text)"/>
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<rosparam subst_value="true">
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language: $(arg language)
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self_cancellation: true
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tts_tolerance: 0.5
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</rosparam>
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</node>
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</launch>
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