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MARS uses Cartesia for text-to-speech. You can customize the robot’s voice by changing the Cartesia voice ID. The simplest way to change the voice is through the OS config file. No rebuild required.

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Steps

  1. Connect to your robot — either open it in your IDE over Remote SSH (recommended) or SSH in from a terminal
  2. Edit config/os.toml — open it in your IDE, or directly from the terminal: 
nano ~/innate-os/config/os.toml
  1. Set the voice ID in the [voice] section:
[voice]
cartesia_voice_id = "your-voice-id-here"
  1. Save the file and restart the robot services (innate service restart) for changes to take effect.
You can also set CARTESIA_VOICE_ID in ~/innate-os/.env; the os.toml value takes precedence.

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Method 2: Editing the Launch File (Advanced)

For more permanent changes, you can modify the launch file directly.

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1. Find the launch file

The voice ID is configured in the brain client launch file: 
~/innate-os/ros2_ws/src/brain/brain_client/launch/brain_client.launch.py

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2. Change the voice ID

Look for the cartesia_voice_id_arg parameter and update the default_value: 
cartesia_voice_id_arg = DeclareLaunchArgument(
    "cartesia_voice_id",
    default_value="9fdaae0b-f885-4813-b589-3c07cf9d5fea",  # Change this ID
    description="Cartesia Alfred voice id",
)
Replace the voice ID with your desired Cartesia voice ID.

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3. Build and restart

innate build

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Finding Voice IDs

You can either:
  • Use an existing Cartesia voice — Browse their voice library to find a voice ID that suits your needs
  • Create a custom voice — Cartesia allows you to clone a voice with just 10 seconds of audio recording
Check out the Cartesia documentation to learn more about available voices and how to create your own.