alexa_voice_control

Package that allows communication between ROS and Alexa, implementing two different communication channels:

• User → ROS: through a custom Alexa Conversation Skill that communicates with a local server in azure functions.
• ROS → User: using unsolicited Text-To-Speech of Node-RED block that use Alexa-API

Requirements

• Ubuntu 20.04+
• Python 3.8+
• ROS Noetic+
• ROS bridge
• Node-RED
• ngrok

Installation

• Install miniconda and create a custom environment:

    conda create -n alexa_env python=3.10
    conda activate alexa_env
  

• Launch setup.py for installing the requirements:

    python setup.py
  

Node-RED

• Install Node.js:

    curl -sL https://deb.nodesource.com/setup_16.x -o /tmp/nodesource_setup.sh
    sudo bash /tmp/nodesource_setup.sh
    sudo apt install nodejs
  

• To install Node-RED you can use the npm command that comes with node.js:

    sudo apt install npm
    sudo npm install -g --unsafe-perm node-red
  

  In Node-RED → manage palet → install:

    node-red-contrib-alexa-remote2-applestrudel
    node-red-contrib-ros
  

  or in bash:

    npm install node-red-contrib-ros
    npm install node-red-contrib-alexa-remote2-applestrudel 
  

ROS Bridge

• Install rosbridge suite:

    sudo apt-get install ros-noetic-rosbridge-server
  

Ngrok

• Install Ngrok

    sudo apt update
    sudo apt install snapd
    sudo snap install ngrok
  

• Add your Token in the ngrok.yml file in the ngrok folder

Configuration Node-RED contrib ROS

• in sub/pub node → ROS SERVER → add new ros server:

    url: ws://localhost:9091/
    Topic: name_topic
  

Configuration Node-RED contrib Alexa Remote 2

• in Alexa initialize node:

  Account → Add new Alexa Account:

    Name: Nome
    Auth Method: Proxy
    This IP: IP_ADDRESS
    Port : 3456
    File Path : AuthFile
    
    Service Host: alexa.amazon.it
    Page:amazon.it
    Language: it-IT
  

  Option → initialize

Launch Instructions

• Activate the conda environment:

    conda activate alexa_env
  

Configure Alexa Skill End-Point

• Launch ngrok:

    ngrok http 5000
  

• Change skill end-point with the ngrok one:

    https://2c92-79-42-218-6.ngrok-free.app
  

• Change the Endpoint Sub-domain:

    My development endpoint is a sub-domain of a domain that has a wildcard certificate from a certificate authority
  

Launch Skill Back-End

• Launch the ROS bridge:

    roslaunch alexa_voice_control skill_backend.launch