I haven't done this myself, but I think it should be possible:  first convert from IPA to SAMPA using [Phonverter - a converter between IPA and SAMPA transcriptions][1] then [use MBROLA to pronounce the SAMPA][2].

An alternative is to use [lexconvert][3] ([mirror][4]) to do the conversion and feed the output to [espeak][5].


  [1]: http://www.lfsag.unito.it/ipa/converter_en.html
  [2]: https://en.wikipedia.org/wiki/MBROLA
  [3]: http://ssb22.user.srcf.net/gradint/lexconvert.html
  [4]: https://github.com/ssb22/lexconvert
  [5]: http://espeak.sourceforge.net/