gcloud_speech: Google Cloud Speech API ROS Integration
gcloud_speech_msgs: ROS Message Definitions
gcloud_speech_msgs defines following messages:
gcloud_speech_msgs/LinearPcm16Le16000Audiorepresents raw audio buffer in Linear PCM format, 16 bits, little endian, sample rate 16,000 Hz. It could be generated/converted by any other nodes.
gcloud_speech_msgs/RecognitionHypothesisrepresents a recognition hypothesis. It is a pair of transcript and confidence score.
gcloud_speech_msgs/SpeechToTextActionand other action server messages defines a
actionlibinterface to interact with Google Cloud Speech API.
gcloud_speech: Google Cloud Speech API ActionServer
gcloud_speech/gcloud_speech_action_node is a SimpleActionServer node. It
could only serve one goal at a time (theoretically it could serve multiple
goals, but we don't have an immediate plan for this). Newer goal preempts older
goal. A goal specifies hints, max listening time, max execution time, and some
other parameters. And the action server will start streaming results from Google
Cloud Speech API through action feedback. A goal can be preempted/canceled
anytime, and the result will return a single transcript. We highly recommend
relying on feedback to get recognition results.
gcloud_speech_action_node serves the action server at
/cogrob/speech_to_text with type
It listens to
/cogrob/microphone_audio audio topic with type
gcloud_speech_action_node, a few command line flags must be set
grpc_roots.pem file can be downloaded from
here. We have also
included a copy in
gcloud_speech_utils package under
We provide a
speech_local_main program that does not rely on ROS. It uses
portaudio19-dev) to capture audio and prints recognition result
to the screen. To build this program, enable set
when invoking cmake (
catkin build --cmake-args -DGCLOUD_SPEECH_LOCAL_MAIN=ON).
Command line flag
--mic=MicrophoneName sets the microphone the program uses.
gcloud_speech_utils: Utilities and Examples
This package provides a
record_microphone_audio node that publishes
LinearPcm16Le16000Audio. By default it looks for USB microphones. You can add
--mic=MicrophoneName to override this option. The argument only need to
partially match of the micrphone name seen by portaudio. The
playback_microphone_audio.py script enables monitoring the microphone topic.
Due to limitations of PortAudio and ROS, there is noticeable latency.
This package also provides a
example_client.py program that interacts with the
You may also find some useful ROS launch files in this package.
gcloud_speech_utils package is experimental and for demostration
purpose only. We recommend you NOT to use them in critical environment. Use
these software at your own risk.
Google Cloud Console
Please visit https://console.cloud.google.com to add a project and create service accounts for the users under "IAM & admin". We recommend one service account for each machine. You will be able to create keys (in JSON format) in the same console.
You must enable Speech API before you can use it. We have experienced no error message shown for Speech API not enabled error in the past. To enabled Speech API, search "Speech" in the search bar.
This package is licensed under the 3-clause BSD License.
Copyright ©(2017) The Regents of the University of California, All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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