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I get a suspicious short (100ms ?) beep sound after every phrase (stringToSay) executed with:

void ALTextToSpeechProxy::say(const std::string& stringToSay);

I get it only on my newer V6 robot, not on the old one V5. I have experienced it when running C++ compiled module, but the phenomenon may be easily observed even with the following simple .py code, executed on the robot. It's like after "hello" comes a short break and then a beep.

#! /usr/bin/env python

import qi
import sys

def main(session):
    tts = session.service("ALTextToSpeech")
    tts.say("hello")

session = qi.Session()    
session.connect("tcp://127.0.0.1:9559")
main(session)
  • Which language is your NAO speaking? Is it doing the beep in another language? – Victor Paléologue Aug 27 '20 at 12:57
  • As of the above example in Python, there is not language change and the default language is kept - English. – Wojtek Skaba Aug 27 '20 at 16:15
  • Kindly find enclosed a recording of the beep: https://www.dropbox.com/s/n11i52bj9bqedib/Voice%20002_sd.m4a – Wojtek Skaba Aug 27 '20 at 16:49
  • This sound is meant to be played when the speech recognition (ASR) finishes. There is probably an interference between your use of TTS and the ASR. Do you run topics with `ALDialog` or subscribe to it, while you call the TTS? Or a Choregraphe dialog box? What happens if you don't? – Victor Paléologue Aug 27 '20 at 16:56
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    Also, are you running something like the basic channel dialog in the background? – Dominic D Aug 27 '20 at 22:44
  • All I do is the following: 1. Boot robot. 2. Run the above python code. – Wojtek Skaba Aug 28 '20 at 08:26
  • The actual above recording was captured with the following code: (...) main(session) time.sleep(1) main(session) time.sleep(1) main(session) main(session) time.sleep(1) main(session) main(session) main(session) – Wojtek Skaba Aug 28 '20 at 08:37

2 Answers2

1

I have finally solved the BEEP problem by simply upgrading the original NAOqi 2.8.4.2 to the latest version 2.8.6.23. I did it with robot_settings app.

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Could anybody tell me if one observes a beep following the word "hello" when running the enclosed simple code on one's robot? The NAOqi version I'm running is 2.8.4.2.

#! /usr/bin/env python

import qi
import sys

session = qi.Session()    
session.connect("tcp://127.0.0.1:9559")
tts = session.service("ALTextToSpeech")
tts.say("hello")