ROBOTIC VA PROJECT

AUTHOR : Tsung-Han Brian Lee
LICENSE : MIT

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Usage:

In a terminal

# Modify username and ip for your case
$ ssh pi@192.168.1.181
$ git clone https://github.com/bobolee1239/robotic_va.git
$ cd robotic_va
# Feel free to modify host ip address and port number
$ python3 roboticVA_server.py 192.168.1.181 8888

In another terminal

# Modify username and ip for your case
$ ssh pi@192.168.1.104
$ git clone https://github.com/bobolee1239/robotic_va.git
$ cd robotic_va/raspberry_pi_motor_control
$ mkdir build && cd build
$ cmake ..
$ make
# Feel free to modify host ip address and port number
$ sudo ./simple_vehicle 192.168.1.181 8888

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Get Started

Environment

• Tested Operating System : Ubuntu 16 | Raspian Strench
• Python Dependencies: pyaudio, pyusb, webrtcvad, and pocketsphinx

Make sure you have up-to-date version of pip, setuptools and wheel before install python dependencies

$ python3 -m pip install --upgrade pip setuptools wheel

Device Firmware (can be found in github/respeaker)

• Respeaker 8 mics DFU (Device Firmware Upgrade)
• Drivers for Raspberry Pi

To access USB device without root permission, you can add a udev .rules file to /etc/udev/rules.d

$ echo 'SUBSYSTEM=="usb", MODE="0666"' | sudo tee -a /etc/udev/rules.d/60-usb.rules
$ sudo udevadm control -R  # then re-plug the usb device

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Build Customized Keywords

Configure dictionary.txt and keyword.txt in script/beamforming/assets/pocketsphinx-data directory

• specific explanation CLICK HERE
• For more keywords dictionary CLICK HERE

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Plugin your own Source Localizatoin or Source Separation Algorithm

simply modify method beamforming of class UCA in beamforming/uca.py

# FILE: scripts/beamforming/uca.py

class UCA(object):
  ...
  def beamforming(self, chunks):
    ...
    for chunk in chunks:
      ##
      #   IMPLEMENT YOUR ALGORITHM FOLLOWING, GOOD LUCK!
      ##
    ...
  ...

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REFERENCE

Respeaker Microphone Array

1. https://github.com/respeaker