3.4. Speech Synthesis

On HSR, you can use speech synthesis to make the robot speak.

Since HSR cannot output speech in the simulator, you will confirm it as text instead.

1. Run the following to start a terminal for confirmation.

   $ ros2 topic echo /talk_request
   

2. Run the following commands to send the text to be spoken from the console.

   In []: tts.language = tts.ENGLISH
   In []: tts.say(u'Hi. My name is HSR.')
   

3. The following message will be displayed in the confirmation terminal.

   $ ros2 topic echo /talk_request
   interrupting: false
   queueing: false
   language: 1
   sentence: Hi. My name is HSR.