diff --git a/3rdparty/aques_talk/CMakeLists.txt b/3rdparty/aques_talk/CMakeLists.txt
index 56143108f..cd2da2356 100644
--- a/3rdparty/aques_talk/CMakeLists.txt
+++ b/3rdparty/aques_talk/CMakeLists.txt
@@ -1,71 +1,49 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(aques_talk)
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+find_package(catkin REQUIRED)
-rosbuild_init()
+catkin_package()
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-# Generate the file foo
-# Create a target that depends on the generation of foo
-#add_custom_command(
-# OUTPUT include/AquesTalk2.h
-# COMMAND mkdir -p include && cp $(SOURCE_DIR)/lib64/*.h include
-# )
-#add_custom_target(include_target DEPENDS include/AquesTalk2.h)
-#add_dependencies(rosbuild_precompile include/AquesTalk2.h)
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-link_directories(${PROJECT_SOURCE_DIR}/lib)
-rosbuild_add_executable(SampleTalk src/SampleTalk.c)
-target_link_libraries(SampleTalk AquesTalk2)
-
-if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64* )
+# Considering the use of docker in addition to the usual use,
+# we use dpkg-architecture command instead of ${CMAKE_SYSTEM_PROCESSOR} to get the architecture.
+# https://stackoverflow.com/a/58222507
+# http://manpages.ubuntu.com/manpages/bionic/man1/dpkg-architecture.1.html
+execute_process(COMMAND dpkg-architecture -qDEB_HOST_GNU_CPU OUTPUT_VARIABLE ARCHITECTURE)
+if("${ARCHITECTURE}" MATCHES x86_64* )
set(AQTK2_LNX_LIB_DIR "lib64")
else ()
set(AQTK2_LNX_LIB_DIR "lib")
endif ()
#
-rosbuild_download_data(http://www.a-quest.com/download/package/aqtk2-lnx-eva_210.zip build/aqtk2-lnx-eva_210.zip 68029448ecf4d36337e754c6eb3bb5d8)
-# Generate the file foo
-add_custom_command(
- OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/include/AquesTalk2.h
- COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} &&
- unzip -u build/aqtk2-lnx-eva_210.zip -d build &&
- mkdir -p include lib phont &&
- cp build/aqtk2-lnx-eva/${AQTK2_LNX_LIB_DIR}/*.h include &&
- cp build/aqtk2-lnx-eva/${AQTK2_LNX_LIB_DIR}/libAquesTalk2Eva.so.2.1 lib/libAquesTalk2.so.2 &&
- (cd lib && ln -sf libAquesTalk2.so.2 libAquesTalk2.so ) &&
- cp -r build/aqtk2-lnx-eva/phont ./
- DEPENDS build/aqtk2-lnx-eva_210.zip
- )
-# Create a target that depends on the generation of foo
-add_custom_target(include_target DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/include/AquesTalk2.h)
+include(ExternalProject)
+externalproject_add(aqtk2-lnx-eva
+ PREFIX download
+ URL https://www.a-quest.com/archive/package/aqtk2-lnx-eva_230.zip
+ TIMEOUT 120
+ CONFIGURE_COMMAND bash -c "echo configure"
+ BUILD_COMMAND bash -c "(cd ${AQTK2_LNX_LIB_DIR} && ln -sf libAquesTalk2Eva.so.2.3 libAquesTalk2.so && ln -sf libAquesTalk2Eva.so.2.3 libAquesTalk2.so.2)"
+ INSTALL_COMMAND bash -c "cp -P ${AQTK2_LNX_LIB_DIR}/libAquesTalk2* ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION} && cp phont/* ${CMAKE_CURRENT_SOURCE_DIR}/phont/"
+ BUILD_IN_SOURCE 1
+)
+
+include_directories(${CMAKE_CURRENT_BINARY_DIR}/download/src/aqtk2-lnx-eva/${AQTK2_LNX_LIB_DIR})
+link_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION})
+# compile SampleTalk
+add_executable(SampleTalk src/SampleTalk.c)
+target_link_libraries(SampleTalk AquesTalk2)
+
# Make compilation depend on our target:
-add_dependencies(SampleTalk include_target)
+add_dependencies(SampleTalk aqtk2-lnx-eva)
+# install
+install(FILES text2wave
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${PROJECT_SOURCE_DIR}/bin;${PROJECT_SOURCE_DIR}/include;${PROJECT_SOURCE_DIR}/lib;${PROJECT_SOURCE_DIR}/phont;${PROJECT_SOURCE_DIR}/wiped;${PROJECT_SOURCE_DIR}/installed")
+install(DIRECTORY launch
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ USE_SOURCE_PERMISSIONS)
diff --git a/3rdparty/aques_talk/README.md b/3rdparty/aques_talk/README.md
new file mode 100644
index 000000000..f3acb037a
--- /dev/null
+++ b/3rdparty/aques_talk/README.md
@@ -0,0 +1,36 @@
+# aques_talk
+
+ROS Interface for AqeusTalk2
+
+## Usage
+
+### Launch sound_play with AquesTalk2 Text-to-Speech
+
+```bash
+roslaunch aques_talk aques_talk.launch
+```
+
+### Say something
+
+```bash
+$ rostopic pub /robotsound_jp sound_play/SoundRequest "{sound: -3, command: 1, volume: 10.0, arg: 'こんにちわ', arg2: ''}"
+$ rostopic pub /robotsound_jp sound_play/SoundRequest "{sound: -3, command: 1, volume: 10.0, arg: 'こんにちわピーアールツー', arg2: ''}"
+```
+
+```python
+import rospy
+from sound_play.libsoundplay import SoundClient
+
+rospy.init_node('say_node')
+
+client = SoundClient(sound_action='robotsound_jp', sound_topic='robotsound_jp')
+
+client.say('こんにちは')
+
+# note that
+client.say('Hello')
+# does not work ! Use
+client.say('Hello', voice='en')
+
+
+```
diff --git a/3rdparty/aques_talk/launch/aques_talk.launch b/3rdparty/aques_talk/launch/aques_talk.launch
new file mode 100644
index 000000000..8a306d2a5
--- /dev/null
+++ b/3rdparty/aques_talk/launch/aques_talk.launch
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/3rdparty/aques_talk/package.xml b/3rdparty/aques_talk/package.xml
new file mode 100644
index 000000000..0022ea3c8
--- /dev/null
+++ b/3rdparty/aques_talk/package.xml
@@ -0,0 +1,19 @@
+
+
+ aques_talk
+ 2.1.21
+ ROS interface aques_talk demo program
+
+ AQUEST Corp, ROS package maintained by Kei Okada
+ Kei Okada
+ BSD
+ http://ros.org/wiki/aques_talk
+
+ catkin
+ kakasi
+ nkf
+ sound_play
+
+
+
+
diff --git a/3rdparty/aques_talk/phont/.gitignore b/3rdparty/aques_talk/phont/.gitignore
new file mode 100644
index 000000000..241e560df
--- /dev/null
+++ b/3rdparty/aques_talk/phont/.gitignore
@@ -0,0 +1,2 @@
+*
+
diff --git a/3rdparty/aques_talk/src/SampleTalk.c b/3rdparty/aques_talk/src/SampleTalk.c
index a23b6c1d7..6c0137da9 100644
--- a/3rdparty/aques_talk/src/SampleTalk.c
+++ b/3rdparty/aques_talk/src/SampleTalk.c
@@ -71,6 +71,26 @@ int main(int ac, char **av)
unsigned char *wav = AquesTalk2_Synthe_Utf8(speak_str, 100, &size, pPhont);
if(wav==0) {
fprintf(stderr, "ERR %d\n", size); // エラー時は size にエラーコードが返る
+ switch (size) {
+ case 100: fprintf(stderr, "その他のエラー\n"); break;
+ case 101: fprintf(stderr, "メモリ不足\n"); break;
+ case 102: fprintf(stderr, "音声記号列に未定義の読み記号が指定された\n"); break;
+ case 103: fprintf(stderr, "韻律データの時間長がマイナスなっている\n"); break;
+ case 104: fprintf(stderr, "内部エラー(未定義の区切りコード検出）\n"); break;
+ case 105: fprintf(stderr, "音声記号列に未定義の読み記号が指定された\n"); break;
+ case 106: fprintf(stderr, "音声記号列のタグの指定が正しくない\n"); break;
+ case 107: fprintf(stderr, "タグの長さが制限を越えている（または[>]がみつからない）\n"); break;
+ case 108: fprintf(stderr, "タグ内の値の指定が正しくない\n"); break;
+ case 109: fprintf(stderr, "WAVE 再生ができない（サウンドドライバ関連の問題）\n"); break;
+ case 110: fprintf(stderr, "WAVE 再生ができない（サウンドドライバ関連の問題 非同期再生）\n"); break;
+ case 111: fprintf(stderr, "発声すべきデータがない\n"); break;
+ case 200: fprintf(stderr, "音声記号列が長すぎる\n"); break;
+ case 201: fprintf(stderr, "１つのフレーズ中の読み記号が多すぎる\n"); break;
+ case 202: fprintf(stderr, "音声記号列が長い（内部バッファオーバー1）\n"); break;
+ case 203: fprintf(stderr, "ヒープメモリ不足\n"); break;
+ case 204: fprintf(stderr, "音声記号列が長い（内部バッファオーバー1）\n"); break;
+ }
+ fprintf(stderr, "Please refer to https://www.a-quest.com/archive/manual/aqtk2_lnx_man.pdf for more info.\n");
return -1;
}
// Phont データの開放(音声合成が終わったら開放できる)
diff --git a/3rdparty/aques_talk/text2wave b/3rdparty/aques_talk/text2wave
index 07e3a4ebb..522cf1d10 100755
--- a/3rdparty/aques_talk/text2wave
+++ b/3rdparty/aques_talk/text2wave
@@ -1,30 +1,41 @@
-#!/bin/bash
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
-# for festival compaibility
-ARGS=`echo $@ | sed 's/\-eval\ ()//' | sed 's/\-eval\ (\(.\+\))\ \(.\+\)$/\2\ \-p\ \1/'`
-eval set -- "$ARGS"
+import argparse
+import os
+import rospkg
+import rospy
+import sys
-INPUT_FILE=$1;shift;
-OUTPUT_FILE=/tmp/_aques_talk_sound_$$.wav
-JPTEXT_FILE=/tmp/_aques_talk_text_$$.txt
-PHONT_FILE=aq_f1c.phont
-while getopts p:o: OPT
-do
- case ${OPT} in
- "o")
- OUTPUT_FILE=${OPTARG};;
- "p")
- PHONT_FILE=${OPTARG};;
- esac
-done
+if __name__ == '__main__':
+ parser = argparse.ArgumentParser(description='')
+ parser.add_argument('-eval', '--evaluate')
+ parser.add_argument('-o', '--output')
+ parser.add_argument('text')
+ args = parser.parse_args()
-PHONT_FILE=`rospack find aques_talk`/phont/$PHONT_FILE
-PATH=`rospack find aques_talk`/bin:$PATH
-nkf -j $INPUT_FILE | kakasi -JH | nkf -w | \
- sed -e 's/，/、/g' | sed -e 's/,/、/g' | \
- sed -e 's/．/。/g' | sed -e 's/\./。/g' > \
- $JPTEXT_FILE
-cat $JPTEXT_FILE 1>&2
-`rospack find aques_talk`/bin/SampleTalk -p $PHONT_FILE -o $OUTPUT_FILE $JPTEXT_FILE
-#rm -f /tmp/_jtalk_{log,input}_$$.*
+ input_file = args.text
+ jptext_file = "/tmp/_voice_text_%s.txt"%os.getpid()
+ output_file = "/tmp/_voice_text_%s.wav"%os.getpid()
+ phont_file = "aq_f1c.phont"
+ phont_file ="%s/phont/%s"%(rospkg.RosPack().get_path("aques_talk"), phont_file)
+ if args.output is not None:
+ output_file = args.output
+ if not os.path.exists(input_file):
+ rospy.logerr("%s not found"%input_file)
+ sys.exit(1)
+
+ if args.evaluate in ['(en)']:
+ os.system("/usr/bin/text2wave %s > %s"%(input_file, output_file))
+ sys.exit(0)
+
+ # escape invalid code
+ os.system("nkf -j %s | kakasi -JH | nkf -w | \
+ sed -e 's/，/、/g' | sed -e 's/,/、/g' | \
+ sed -e 's/．/。/g' | sed -e 's/\./。/g' > \
+ %s"%(input_file, jptext_file))
+ os.system("cat %s 1>&2"%(jptext_file))
+ os.system("rosrun aques_talk SampleTalk -p %s -o %s %s"%(phont_file, output_file, jptext_file))
+
+ os.remove(jptext_file)