feat: use voice shaping parameter

src/robot_interface/core/config.py

@@ -118,11 +118,11 @@ class RobotConfig(object):
     """
     Configuration of Pepper-specific parameters, like speech pitch.
     
-    :ivar pitch: The relative pitch offset of Pepper's voice, in relation to its base pitch.
-    :vartype pitch: float
+    :ivar voice_shaping: Pepper's voice shape, a number between 50 and 150. Defaults to 100.
+    :vartype voice_shaping: int
     """
     def __init__(self, pitch=None):
-        self.pitch = get_config(pitch, "ROBOT__PITCH", 0.0, float)
+        self.voice_shaping = get_config(pitch, "ROBOT__VOICE_SHAPING", 100, int)
     
 
 class Settings(object):

src/robot_interface/endpoints/actuation_receiver.py

@@ -68,7 +68,6 @@ class ActuationReceiver(ReceiverBase):
 
         if not self._tts_service:
             self._tts_service = state.qi_session.service("ALTextToSpeech")
-            self._tts_service.setParameter("pitchShift", settings.robot_config.pitch)
 
         if message.get("is_priority"):
             # Bypass queue and speak immediately
@@ -157,7 +156,7 @@ class ActuationReceiver(ReceiverBase):
             try:
                 text = self._message_queue.get(timeout=0.1)
                 state.is_speaking = True
-                self._tts_service.say(text)
+                self._tts_service.say("\VCT={}\{}\RST\".format(settings.robot_config.voice_shaping, text))
             except Queue.Empty:
                 state.is_speaking = False
             except RuntimeError: