ROS Package bob_q3tts 

A ROS 2 wrapper for the Qwen3-TTS model, providing high-fidelity, low-latency text-to-speech with streaming aggregation and voice cloning capabilities. It also includes a Qt-based GUI for real-time parameter tuning.

Quick Start

Launch the TTS Service:
```
ros2 run bob_q3tts tts
```
Open the Parameter GUI:
```
ros2 run bob_q3tts gui
```

Docker Usage

Using Docker Compose (Recommended)

docker-compose build
docker-compose up

Using Docker CLI

Build the Image:
```
docker build -t bob_q3tts .
```

Run the Node (with GPU and Audio):

docker run -it --rm \
  --gpus all \
  --device /dev/snd \
  -e Q3TTS_MODEL_DIR=/models \
  -e ROS_DOMAIN_ID=99 \
  -v  /blue/dev/q3tts/models:/models \
  --network host \
  --ipc host \
  bob-q3tts:latest

Troubleshooting Audio

If you hear no sound or see “Invalid sample rate” errors (common with HDMI/GPU audio):

List Devices (inside container):

python3 -c "import sounddevice as sd; print(sd.query_devices())"

Set Device: Find the index or name (e.g., HDA NVidia: HDMI 0 (hw:2,3)) and set the audio_device parameter.
Force Resampling: If your hardware only supports 48kHz, set target_sample_rate to 48000.

Example:

ros2 param set /tts audio_device "HDA NVidia: HDMI 0 (hw:2,3)"
ros2 param set /tts target_sample_rate 48000

ROS API

Topics

Name	Type	Direction	Description
`text`	`std_msgs/String`	Subscriber	Incoming text. Aggregated and synthesized at sentence boundaries.
`spoken_text`	`std_msgs/String`	Publisher	The text currently being spoken. Published right before playback.

Parameters

The node uses static configuration for initialization and dynamic parameters for per-sentence tuning.

Core Configuration (Static)

Parameter	Type	Description
`model_id`	`string`	The Hugging Face model ID. Env: `Q3TTS_MODEL_ID` (Default: `Qwen/Qwen3-TTS-12Hz-1.7B-Base`)
`model_dir`	`string`	Local directory for model caching. Env: `Q3TTS_MODEL_DIR` (Default: `./models`)
`sentence_delimiters`	`string_array`	Characters that trigger synthesis. Env: `Q3TTS_SENTENCE_DELIMITERS` (Default: `[",", ".", ":", ";", "!", "?"]`)
`flush_timeout`	`integer`	Timeout in ms to flush buffer without delimiter. Env: `Q3TTS_FLUSH_TIMEOUT` (Default: `700`)

Generation Settings (Dynamic)

Parameter	Type	Description
`language`	`string`	Speech language. Env: `Q3TTS_LANGUAGE` (Default: `auto`)
`do_sample`	`bool`	Enable sampling for Stage 1. Env: `Q3TTS_DO_SAMPLE` (Default: `true`)
`temperature`	`double`	Sampling temperature for Stage 1. Env: `Q3TTS_TEMPERATURE` (Default: `0.9`)
`top_p`	`double`	Nucleus sampling threshold. Env: `Q3TTS_TOP_P` (Default: `1.0`)
`top_k`	`integer`	Top-k sampling limit. Env: `Q3TTS_TOP_K` (Default: `50`)
`repetition_penalty`	`double`	Penalty for repeated sounds. Env: `Q3TTS_REPETITION_PENALTY` (Default: `1.05`)

Subtalker Settings (Dynamic)

Parameter	Type	Description
`subtalker_dosample`	`bool`	Enable sampling for Stage 2. Env: `Q3TTS_SUBTALKER_DOSAMPLE` (Default: `true`)
`subtalker_temperature`	`double`	Temperature for acoustic texture. Env: `Q3TTS_SUBTALKER_TEMPERATURE` (Default: `0.9`)
`subtalker_top_p`	`double`	Nucleus sampling for Stage 2. Env: `Q3TTS_SUBTALKER_TOP_P` (Default: `1.0`)
`subtalker_top_k`	`integer`	Top-k for Stage 2. Env: `Q3TTS_TOP_K` (Default: `50`)

Voice Clone / ICL (Dynamic)

Parameter	Type	Description
`voice_ref_audio`	`string`	Path to reference `.wav`. Env: `Q3TTS_VOICE_REF_AUDIO` (Default: `<pkg_share>/config/eva_24khz.wav`)
`voice_ref_text`	`string`	Transcript or path to transcript file. Reading from file enables dynamic updates. Env: `Q3TTS_VOICE_REF_TEXT` (Default: `<pkg_share>/config/voice_ref_text.txt`)

Output & Storage (Dynamic)

Parameter	Type	Description
`play`	`bool`	Enable/disable audio playback. Env: `Q3TTS_PLAY` (Default: `true`)
`player`	`string`	Player: `sys` (native) or executable path. Env: `Q3TTS_PLAYER` (Default: `sys`)
`audio_device`	`string`	Device ID or name for sounddevice. Env: `Q3TTS_AUDIO_DEVICE` (Default: `""`)
`file_prefix`	`string`	Prefix for saving audio files. Env: `Q3TTS_FILE_PREFIX` (Default: `""`)
`file_start_index`	`integer`	Starting index for file naming. Env: `Q3TTS_FILE_START_INDEX` (Default: `1`)

ROS Package bob_q3tts