Merge pull request #179 from KKalem/simple_tts

Added a simple tts utility node

Author: KKalem

.gitmodules

@@ -55,3 +55,4 @@
 [submodule "external_equipment/PlayStation-JoyInterface-ROS2"]
 	path = external_equipment/PlayStation-JoyInterface-ROS2
 	url = https://github.com/HarvestX/PlayStation-JoyInterface-ROS2
+	branch = humble

utilities/smarc_utilities/setup.py

@@ -20,6 +20,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            'simple_tts = smarc_utilities.tts:main',
         ],
     },
 )

utilities/smarc_utilities/smarc_utilities/tts.py

@@ -0,0 +1,51 @@
+import subprocess
+from rclpy.node import Node
+from std_msgs.msg import String
+
+
+class TTS:
+    def __init__(self,
+                 node: Node,
+                 topic: str = "speak",
+                 engine : str = "spd-say"):
+        
+        self._node = node
+        self._topic = topic
+        self._engine = engine
+
+        self._speak_sub = self._node.create_subscription(
+            String, 
+            self._topic, 
+            self.speak, 
+            10
+        )
+
+    def speak(self, text: String):
+        t = text.data
+        if not t:
+            self._node.get_logger().warn("Received empty text for TTS.")
+            return
+        self._node.get_logger().info(f"Speaking: {t}")
+        subprocess.run([self._engine, t])
+
+        
+
+def main():
+    import rclpy
+    from rclpy.executors import SingleThreadedExecutor
+
+    rclpy.init()
+    node = Node("tts_node")
+    tts = TTS(node)
+
+    executor = SingleThreadedExecutor()
+    executor.add_node(node)
+
+    try:
+        executor.spin()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+