Niryo_robot_sound¶

This package deals with the sound of the robot.

Sound Node¶

The ROS Node is made of services to play, stop, import and delete a sound on the robot. It is also possible to set the volume of the robot.

It belongs to the ROS namespace: /niryo_robot_sound/.

Parameters - Sound¶

Here is a list of the different parameters that allow you to adjust the default settings of the robot and the system sounds.

Parameters of the volume Sound component¶
Name	Description	Default value
`default_volume`	Default volume on the real robot	100
`default_volume_simulation`	Default volume in simulation	10
`min_volume`	Minimum volume of the robot	0
`max_volume`	Maximum volume of the robot	200
`volume_file_path`	File where the volume of the real robot set by the user is stored	“~/niryo_robot_saved_files/robot_sound_volume.txt”
`volume_file_path_simulation`	File where the volume in simulation set by the user is stored	“~/.niryo/simulation/robot_sound_volume.txt”

Parameters of the Sound component¶
Name	Description	Default value
`path_user_sound`	Default volume on the real robot	“~/niryo_robot_saved_files/niryo_robot_user_sounds”
`path_user_sound_simulation`	Default volume in simulation	“~/.niryo/simulation/niryo_robot_user_sounds”
`path_robot_sound`	Minimum volume of the robot	“niryo_robot_state_sounds”
`robot_sounds/error_sound`	Sound played when an error occurs	error.wav
`robot_sounds/turn_on_sound`	Sound played at the start-up of the robot	booting.wav
`robot_sounds/turn_off_sound`	Sound played at shutdown	stop.wav
`robot_sounds/connection_sound`	Sound played an Niryo Studio connection	connected.wav
`robot_sounds/robot_ready_sound`	Sound played when the robot is ready	ready.wav
`robot_sounds/calibration_sound`	Sound played at start of calibration	calibration.wav

State sounds¶
State	Description	Sound
Booting	Sound played while booting
Ready	Sound played when the robot is ready after booting
Calibration	Sound played at start of calibration
Connected	Notify of a connection to Niryo Studio
Reboot	Sound played at start of a motor reboot
Warn	Sound played when a warning occurs
Error	Sound played when a robot/motor/raspberry/program/overheating error occurs
Shutdown	Sound played at shutdown

Publisher - Sound¶

Sound Package’s Publishers¶
Name	Message Type	Description
`/niryo_robot_sound/sound`	std_msgs/String	Publisesh the sound being played
`/niryo_robot_sound/volume`	std_msgs/UInt8	Publishes the volume of the robot
`/niryo_robot_sound/sound_database`	SoundList	Publishes the sounds (and their duration) on the robot

Services - Sound¶

Sound Services¶
Name	Message Type	Description
`/niryo_robot_sound/play`	PlaySound	Plays a sound from the robot database
`/niryo_robot_sound/stop`	Trigger	Stops the sound being played
`/niryo_robot_sound/set_volume`	SetInt	Sets the volume percentage between 0 and 200%
`/niryo_robot_sound/text_to_speech`	TextToSpeech	Pronouncses a sentence via GTTS
`/niryo_robot_sound/manage`	ManageSound	Stops a sound being played

Subscribers - Sound¶

Sound Package subscribers¶
Topic name	Message type	Description
`/niryo_robot_status/robot_status`	RobotStatus	Retrieves the current robot status, and controls the sound accordingly (see Niryo_robot_status section)
`/niryo_studio_connection`	std_msgs/Empty	Catches Niryo Studio’s connection to make a sound.

Dependencies - Sound¶

Services & Messages files - Sound¶

SoundList (Message)¶

niryo_robot_sound/SoundObject[] sounds

SoundObject (Message)¶

string name
float64 duration

ManageSound (Service)¶

string sound_name

int8 ADD = 1
int8 DELETE = 2
int8 action

# Data to add a new sound
string sound_data

---
int32 status
string message

PlaySound (Service)¶

string sound_name

float64 start_time_sec
float64 end_time_sec  #if 0 or if end_time_sec>sound_duration the entire sound will be played

bool wait_end

---
int32 status
string message

TextToSpeech (Service)¶

string text # < 100 char


int8 ENGLISH = 0
int8 FRENCH = 1
int8 SPANISH = 3
int8 MANDARIN = 4
int8 PORTUGUESE = 5

int8 language
---
bool success
string message

Sound API functions¶

In order to control the robot more easily than calling each topics & services one by one, a Python ROS Wrapper has been built on top of ROS.

For instance, a script playing sound via Python ROS Wrapper will look like:

from niryo_robot_led_ring.api import SoundRosWrapper

sound = SoundRosWrapper()
sound.play(sound.sounds[0])

This class allows you to control the sound of the robot via the internal API.

List of functions subsections:

Play sound
Sound database

Play sound ¶

class SoundRosWrapper(hardware_version='ned2', service_timeout=1)[source]¶

play(sound_name, wait_end=True, start_time_sec=0, end_time_sec=0)[source]¶

Play a sound from the robot If failed, raise NiryoRosWrapperException

Parameters:	sound_name (str) – Name of the sound to play start_time_sec (float) – start the sound from this value in seconds end_time_sec (float) – end the sound at this value in seconds wait_end (bool) – wait for the end of the sound before exiting the function
Returns:	status, message
Return type:	(int, str)

set_volume(sound_volume)[source]¶

Set the volume percentage of the robot. If failed, raise NiryoRosWrapperException

Parameters:	sound_volume (int) – volume percentage of the sound (0: no sound, 100: max sound)
Returns:	status, message
Return type:	(int, str)

stop()[source]¶

Stop a sound being played. If failed, raise NiryoRosWrapperException

Returns:	status, message
Return type:	(int, str)

say(text, language=0)[source]¶

Use gtts (Google Text To Speech) to interpret a string as sound Languages available are: - English: 0 - French: 1 - Spanish: 2 - Mandarin: 3 - Portuguese: 4

Parameters:	text (string) – text to speek < 100 char language (int) – language of the text
Returns:	status, message
Return type:	(int, str)

Sound database ¶

class SoundRosWrapper(hardware_version='ned2', service_timeout=1)[source]

sounds¶

Get sound name list

Returns:	list of the sounds of the robot
Return type:	list[string]

delete_sound(sound_name)[source]¶

Delete a sound on the RaspberryPi of the robot. If failed, raise NiryoRosWrapperException

Parameters:	sound_name (str) – name of the sound which needs to be deleted
Returns:	status, message
Return type:	(int, str)

import_sound(sound_name, sound_data)[source]¶