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This section will guide you to install rospeex and its waveform monitor. These instructions are intended for users using Ubuntu 64 bit. Note that rospeex is incompatible with 32 bit. Rospeex-32bit will be available by the end of December, 2014. ROS install should be done before installation.
You are deemed to have agreed to the license by downloading the rospeex.

System requirements

platform ubuntu12.04(32bit/64bit)
software ROS Groovy/Hydro

Installing rospeex

Make a working directory for rospeex installation and change the current directory to it.

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src

Initialize the directory by using catkin.

$ catkin_init_workspace
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash

Download and install rospeex packages using git.

$ cd ~/catkin_ws/src
$ git clone
$ rosdep update
$ rosdep install rospeex

If you failed to git clone, see section Fail to clone rospeex git repositry of the Q&A.

If the install was sucessful, the following line will be shown.

#All required rosdeps installed successfully

Install Qt-related packages for rospeex’s audio monitor.

$ sudo apt-get install qtmobility-dev

Run the following commands to build rospeex.

$ cd ~/catkin_ws
$ catkin_make

Check your installation by running Talking Watch Sample .

(Beta) Testing rospeex’s browser-based audio monitor

Currently the stable version of rospeex’s audio monitor has a Qt-based interface. However you can test a new html5 inteface. Note that this is a beta version. The requirements are as follows:

Browser Google Chrome Mozila Firefox
Version 35.0 or later 30.0 or later

First go to the following web page. You can save it to your local directory. (The instructions below explain how rospeex’s audio monitor works with Firefox. Instructions for Google Chrome users are explained here.)

(beta) Browser-based audio monitor

Firefox will ask you to share the microphone. It is required in order to use audio input through the browser. Unless you start ROS, audio input is not sent to the server.

Select [default] from the drop down menu, and press [Share Selected Device].

If the above procedure is successful, audio input will be shown as follows:

Update rospeex

Move to the rospeex installation directory.

$ cd ~catkin_ws/src/rospeex

Run the following commands to update rospeex.

$ git checkout master
$ git pull

Installing Turtlebot for TurtleBot Voice Control

Run the following commands in the terminal to get the Turtlebot package.

$ sudo apt-get update
$ sudo apt-get install ros-groovy-turtlebot ros-groovy-turtlebot-apps ros-groovy-turtlebot-viz

Open ~/.bashrc file and add the following Turtlebot settings.

export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=kinect

Reload the ~/.bashrc file.

$ source ~/.bashrc

Run the following command to permit current user access to a serial port.
※ Set MY_USER_NAME to current user name.

$ sudo usermod -a -G dialout MY_USER_NAME

You need to log off and log in again to activate the changed permission. Check your installation by running TurtleBot Voice Control .