| 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 | 
