| Module name | Short description | Publishes | Subscribes |
| VoiceVerbio | Speech synthesis (TTS), in Spanish using the comercial program Verbio. | NEW_TASK , VOICE_EVENT_DONE | SAY , SHUTDOWN |
| Parameter | Description |
actions_names |
|
num_actions |
|
num_elements |
|
say_welcome |
|
say_welcome1 |