Added riva setup for ROS

This commit is contained in:
Dave Niewinski 2023-12-11 12:00:57 -05:00
parent fc838ed37b
commit 1239c6735c
5 changed files with 247 additions and 0 deletions

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cmake_minimum_required(VERSION 3.0.2)
project(glados_riva)
find_package(catkin REQUIRED COMPONENTS)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES glados_riva
# CATKIN_DEPENDS rospy std_msgs
# DEPENDS system_lib
)
include_directories(
# include
${catkin_INCLUDE_DIRS}
)

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glados_riva/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>glados_riva</name>
<version>0.0.0</version>
<description>The glados_riva package</description>
<maintainer email="davesarmoury@gmail.com">Dave Niewinski</maintainer>
<license>CC-BY-3</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
</package>

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glados_riva/scripts/.gitignore vendored Normal file
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*.wav

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#!/usr/bin/env python3
# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: MIT
import argparse
import time
import wave
from pathlib import Path
import string
import riva.client
from riva.client.argparse_utils import add_connection_argparse_parameters
import rospy
from std_msgs.msg import String
def parse_args() -> argparse.Namespace:
parser = argparse.ArgumentParser(
description="A speech synthesis via Riva AI Services. You HAVE TO provide at least one of arguments "
"`--output`, `--play-audio`, `--list-devices`, `--output-device`.",
formatter_class=argparse.ArgumentDefaultsHelpFormatter,
)
parser.add_argument(
"--voice",
help="A voice name to use. If this parameter is missing, then the server will try a first available model "
"based on parameter `--language-code`.",
)
parser.add_argument("-o", "--output", type=Path, help="Output file .wav file to write synthesized audio.")
parser.add_argument(
"--play-audio",
action="store_true",
help="Whether to play input audio simultaneously with transcribing. If `--output-device` is not provided, "
"then the default output audio device will be used.",
)
parser.add_argument("--list-devices", action="store_true", help="List output audio devices indices.")
parser.add_argument("--output-device", type=int, help="Output device to use.")
parser.add_argument("--language-code", default='en-US', help="A language of input text.")
parser.add_argument(
"--sample-rate-hz", type=int, default=44100, help="Number of audio frames per second in synthesized audio.")
parser.add_argument(
"--stream",
action="store_true",
help="If this option is set, then streaming synthesis is applied. Streaming means that audio is yielded "
"as it gets ready. If `--stream` is not set, then a synthesized audio is returned in 1 response only when "
"all text is processed.",
)
parser = add_connection_argparse_parameters(parser)
args = parser.parse_args()
if args.output is None and not args.play_audio and args.output_device is None and not args.list_devices:
parser.error(
f"You have to provide at least one of arguments: `--play-audio`, `--output-device`, `--output`, "
f"`--list-devices`."
)
if args.output is not None:
args.output = args.output.expanduser()
if args.list_devices or args.output_device or args.play_audio:
import riva.client.audio_io
return args
def callback(msg):
global TTS
TTS = msg.data
def main() -> None:
global TTS
TTS = None
args = parse_args()
if args.list_devices:
riva.client.audio_io.list_output_devices()
return
rospy.init_node('riva_tts', anonymous=True)
rospy.Subscriber("speak", String, callback)
auth = riva.client.Auth(args.ssl_cert, args.use_ssl, args.server)
service = riva.client.SpeechSynthesisService(auth)
nchannels = 1
sampwidth = 2
sound_stream, out_f = None, None
try:
if args.output_device is not None or args.play_audio:
sound_stream = riva.client.audio_io.SoundCallBack(
args.output_device, nchannels=nchannels, sampwidth=sampwidth, framerate=args.sample_rate_hz
)
rate = rospy.Rate(2)
while not rospy.is_shutdown():
if TTS != None:
text = TTS
rospy.loginfo("Generating audio for request...")
rospy.loginfo(text)
start = time.time()
resp = service.synthesize(text, args.voice, args.language_code, sample_rate_hz=args.sample_rate_hz)
stop = time.time()
rospy.loginfo("Time spent: " + str(stop - start) + "s")
if sound_stream is not None:
sound_stream(resp.audio)
filename = text.translate(str.maketrans('', '', string.punctuation)) + ".wav"
filename = filename.replace(" ", "_")
out_f = wave.open(filename, 'wb')
out_f.setnchannels(nchannels)
out_f.setsampwidth(sampwidth)
out_f.setframerate(args.sample_rate_hz)
out_f.writeframesraw(resp.audio)
out_f.close()
TTS = None
rate.sleep()
finally:
if sound_stream is not None:
sound_stream.close()
if __name__ == '__main__':
main()

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#!/usr/bin/env python3
# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: MIT
import argparse
import riva.client
from riva.client.argparse_utils import add_asr_config_argparse_parameters, add_connection_argparse_parameters
import riva.client.audio_io
import rospy
from std_msgs.msg import String
def parse_args() -> argparse.Namespace:
default_device_info = riva.client.audio_io.get_default_input_device_info()
default_device_index = None if default_device_info is None else default_device_info['index']
parser = argparse.ArgumentParser(
description="Streaming transcription from microphone via Riva AI Services",
formatter_class=argparse.ArgumentDefaultsHelpFormatter,
)
parser.add_argument("--input-device", type=int, default=default_device_index, help="An input audio device to use.")
parser.add_argument("--list-devices", action="store_true", help="List input audio device indices.")
parser = add_asr_config_argparse_parameters(parser, profanity_filter=True)
parser = add_connection_argparse_parameters(parser)
parser.add_argument(
"--sample-rate-hz",
type=int,
help="A number of frames per second in audio streamed from a microphone.",
default=16000,
)
parser.add_argument(
"--file-streaming-chunk",
type=int,
default=1600,
help="A maximum number of frames in a audio chunk sent to server.",
)
args = parser.parse_args()
return args
def main() -> None:
args = parse_args()
if args.list_devices:
riva.client.audio_io.list_input_devices()
return
rospy.init_node('riva_asr', anonymous=True)
inter_pub = rospy.Publisher('intermediate', String, queue_size=10)
final_pub = rospy.Publisher('final', String, queue_size=10)
auth = riva.client.Auth(args.ssl_cert, args.use_ssl, args.server)
asr_service = riva.client.ASRService(auth)
config = riva.client.StreamingRecognitionConfig(
config=riva.client.RecognitionConfig(
encoding=riva.client.AudioEncoding.LINEAR_PCM,
language_code=args.language_code,
max_alternatives=1,
profanity_filter=args.profanity_filter,
enable_automatic_punctuation=args.automatic_punctuation,
verbatim_transcripts=not args.no_verbatim_transcripts,
sample_rate_hertz=args.sample_rate_hz,
audio_channel_count=1,
),
interim_results=True,
)
riva.client.add_word_boosting_to_config(config, args.boosted_lm_words, args.boosted_lm_score)
with riva.client.audio_io.MicrophoneStream(
args.sample_rate_hz,
args.file_streaming_chunk,
device=args.input_device,
) as audio_chunk_iterator:
responses = asr_service.streaming_response_generator(audio_chunks=audio_chunk_iterator, streaming_config=config)
for response in responses:
if not response.results:
continue
partial_transcript = ""
for result in response.results:
if not result.alternatives:
continue
transcript = result.alternatives[0].transcript
if result.is_final:
for i, alternative in enumerate(result.alternatives):
final_pub.publish(alternative.transcript)
else:
partial_transcript += transcript
if partial_transcript:
inter_pub.publish(partial_transcript)
if __name__ == '__main__':
main()