​PV277 Programming Applications for Social Robots (autumn 2019)

Pepper API

• ​http://doc.aldebaran.com/2-5/index_dev_guide.html
• programming in Choregraphe via Python:
  • enter only one box Python Script
  • edit its contents via double click:
    • to __init__ add:

      self.tts = ALProxy('ALTextToSpeech')
      self.tts.setLanguage('Czech')
      

    • to onInput_onStart add:

      self.tts.say("Ahoj, jak se máš?")
      self.onStopped()
      

  • add Czech into Project Properties
    
  • save the project and run in on a virtual robot
• speech input via Python:
  • in __init__ add:

        try:
            self.speech = ALProxy("ALSpeechRecognition")
            self.speech.setLanguage('Czech')
        except:
            self.logger.info('Running on virtual robot')
            self.speech = None
    

  • process speech accordingly

    def get_answer(self, reactions):
        if self.speech is None:
            return (random.choice(reactions.keys()))
        else:
            self.speech.setVocabulary(reactions.keys(), False)
            self.speech.subscribe("Test_ASR")
            self.logger.info('Speech recognition engine started')
            time.sleep(20)
            self.speech.unsubscribe("Test_ASR")
    
    def onInput_onStart(self):
        self.tts.say("Ahoj, jak se máš?")
        reactions = {
            'dobře':  'to je super!',
            'špatně': 'doufám, že to brzo bude lepší',
            'nevím': 'tak to určitě nebude tak zlé',
        }
        answer = self.get_answer(reactions)
        react = reactions.get(answer)
        self.logger.info('answer={}, react={}'.format(answer, react))
        self.tts.say(react)
        self.onStopped()