VoiceComNav_ROS

ROS Project - Voice command navigation for turtlebot3

Intro :

In this project, the turtlebot3 and pocketsphinx packages are used to achieve navigation with Voice Commands. The voice commands can be given through an audio stream with a mic or an audio (WAV) file.

Example voice command : "kitchen" Output : The robot will navigate to a pre-defined position in the kitchen area and wait there for the next command.

Output Screenshot :

Point Cloud Cluster Counter :

The project also has a cluster_counter package.

It uses 2D raw data from /scan topic (LaserScan) to calculate the number of clusters and the number of points in each cluster.

Output of Cluster Counter :

Steps to Implement :

Version : Ubuntu 18.04 & ROS Melodic

Have xterm terminal installed (sudo apt-get install xterm)

1. Clone the repository folders directly into your catkin_ws/src folder.
2. Only aud_com_nav, cluster_counter, scripts and maps folder can be copied into your src.
3. The turtlebot3, turtlebot3_simulations, turtlebot3_msgs and pocketsphinx can be downloaded from their respective official repos.
4. Make sure all dependencies for the packages in point 3 are installed.
5. Copy the contents of maps folder to turtlebot3/turtlebot3_navigation/maps, rename both the files so that this directory should have map.pgm and map.yaml.
6. Edit ~/.bashrc and put the following code at the very end : export TURTLEBOT3_MODEL=burger
7. cd back to your catkin_ws and execute catkin_make
8. cd to the src/scripts/ folder in the terminal
9. Execute the command : ./final.sh