ROS Piper

ROS Piper is a package that integrates the Piper library into a ROS Node.

Dependencies

ROS dependencies

• robotnik_common_msgs

Python dependencies

• piper-tts, numpy, sounddevice

pip3 install piper-tts numpy sounddevice

Warning: This step is done manually, as the piper-tts package is not available in the ROS repositories.

Usage

Launch the main node:

ros2 launch ros_piper piper.launch.xml model_path:=PATH_TO_ONNX_MODEL

You may put your voide models in the folder resource/models.

Voice models can be downloaded from https://github.com/rhasspy/piper/blob/master/VOICES.md

Services

Services provided

• ~/speak (robotnik_common_msgs/srv/SetString) Service interface to say something

Topics

• ~/speak (std_msgs/msg/String)

Topic interface to say something