ROS机器人项目开发11例-ROS Robotics Projects（2）语音部分

ROS Robotics Projects（2）语音部分

第三章主要是语音部分，和ROS by examples类似；

这里还是要注意路径问题，还有.py和.launch文件的权限问题；

不需要用sudo，直接用下面语句加权限即可：

chmod +x *.py

chmod +x *.launch

路径配置参考：

 

<launch>



	<param name="aiml_path" value="/home/relaybot/books_ws/src/ROS_Robotics_Projects_master/Chapter03/codes/ros_aiml/data" />

	<node name="aiml_server" pkg="ros_aiml" type="aiml_server.py" output="screen">
	</node>


	<include file="$(find sound_play)/soundplay_node.launch"></include>
	<node name="aiml_tts" pkg="ros_aiml" type="aiml_tts_client.py" output="screen">
	</node>

	<node name="aiml_client" pkg="ros_aiml" type="aiml_client.py" output="screen">
	</node>



</launch>

 

 

 

 

 

----

命令运行结果：

 

relaybot@exbot-ThinkPad-T420s:~/books_ws$ roslaunch ros_aiml start_tts_chat.launch 
... logging to /home/relaybot/.ros/log/31b69cf6-174d-11e7-85a6-0811968dc4b0/roslaunch-exbot-ThinkPad-T420s-22991.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://exbot-ThinkPad-T420s:41234/

SUMMARY
========

PARAMETERS
 * /aiml_path: /home/relaybot/bo...
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /
    aiml_client (ros_aiml/aiml_client.py)
    aiml_server (ros_aiml/aiml_server.py)
    aiml_tts (ros_aiml/aiml_tts_client.py)
    soundplay_node (sound_play/soundplay_node.py)

auto-starting new master
process[master]: started with pid [23003]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 31b69cf6-174d-11e7-85a6-0811968dc4b0
process[rosout-1]: started with pid [23016]
started core service [/rosout]
process[aiml_server-2]: started with pid [23023]
process[soundplay_node-3]: started with pid [23027]
process[aiml_tts-4]: started with pid [23034]
process[aiml_client-5]: started with pid [23036]

(gst-plugin-scanner:23045): GStreamer-WARNING **: Failed to load plugin '/usr/lib/x86_64-linux-gnu/gstreamer-1.0/libgsteglglessink.so': /usr/lib/x86_64-linux-gnu/libgstegl-1.0.so.0: undefined symbol: eglDestroyImageKHR
/home/relaybot/books_ws/src/ROS_Robotics_Projects_master/Chapter03/codes/ros_aiml/data

Enter your text :> Starting TTS
[INFO] [WallTime: 1491100599.275978] Starting listening to response
Loading brain from standard.brn... done (98290 categories in 1.79 seconds)
Kernel bootstrap completed in 1.79 seconds
[INFO] [WallTime: 1491100600.147541] Starting ROS AIML Server
hi

Enter your text :> [INFO] [WallTime: 1491100605.857921] I heard:: hi
[INFO] [WallTime: 1491100605.858716] I spoke:: Hi there!
[INFO] [WallTime: 1491100605.859830] Response ::Hi there!
ji

Enter your text :> [INFO] [WallTime: 1491100611.535482] I heard:: ji
[INFO] [WallTime: 1491100611.536626] I spoke:: Where are you located?
[INFO] [WallTime: 1491100611.538437] Response ::Where are you located?


Enter your text :> [INFO] [WallTime: 1491100615.331469] I heard:: 
[INFO] [WallTime: 1491100615.332579] I spoke:: 
[INFO] [WallTime: 1491100615.334038] Response ::


Enter your text :> [INFO] [WallTime: 1491100620.908207] I heard:: 
[INFO] [WallTime: 1491100620.909390] I spoke:: 
[INFO] [WallTime: 1491100620.910688] Response ::
what is your name

Enter your text :> [INFO] [WallTime: 1491100628.790155] I heard:: what is your name
[INFO] [WallTime: 1491100628.791255] I spoke:: My name is Nameless.
[INFO] [WallTime: 1491100628.792728] Response ::My name is Nameless.
Do you love ros

Enter your text :> [INFO] [WallTime: 1491100640.447431] I heard:: Do you love ros
[INFO] [WallTime: 1491100640.448486] I spoke:: Yes  Nameless loves everyone and everything.
[INFO] [WallTime: 1491100640.449860] Response ::Yes  Nameless loves everyone and everything

 

 

 

 

 

 

文件组织如下，所需文件也配置完成：

 

relaybot@exbot-ThinkPad-T420s:~/books_ws/src/ROS_Robotics_Projects_master/Chapter03/codes$ tree
.
├── audio_common
│   ├── audio_capture
│   │   ├── CHANGELOG.rst
│   │   ├── CMakeLists.txt
│   │   ├── launch
│   │   │   ├── capture.launch
│   │   │   ├── capture_to_file.launch
│   │   │   └── capture_wave.launch
│   │   ├── mainpage.dox
│   │   ├── package.xml
│   │   └── src
│   │       └── audio_capture.cpp
│   ├── audio_common
│   │   ├── CHANGELOG.rst
│   │   ├── CMakeLists.txt
│   │   └── package.xml
│   ├── audio_common_msgs
│   │   ├── CHANGELOG.rst
│   │   ├── CMakeLists.txt
│   │   ├── mainpage.dox
│   │   ├── msg
│   │   │   └── AudioData.msg
│   │   └── package.xml
│   ├── audio_play
│   │   ├── CHANGELOG.rst
│   │   ├── CMakeLists.txt
│   │   ├── launch
│   │   │   └── play.launch
│   │   ├── mainpage.dox
│   │   ├── package.xml
│   │   └── src
│   │       └── audio_play.cpp
│   └── sound_play
│       ├── action
│       │   └── SoundRequest.action
│       ├── CHANGELOG.rst
│       ├── CMakeLists.txt
│       ├── include
│       │   └── sound_play
│       │       └── sound_play.h
│       ├── mainpage.dox
│       ├── msg
│       │   └── SoundRequest.msg
│       ├── package.xml
│       ├── README
│       ├── scripts
│       │   ├── playbuiltin.py
│       │   ├── playpackage.py
│       │   ├── play.py
│       │   ├── say.py
│       │   ├── shutup.py
│       │   ├── soundclient_example.py
│       │   ├── soundplay_node.py
│       │   ├── test
│       │   │   └── test_sound_client.py
│       │   ├── test_actionlib_client.py
│       │   └── test.py
│       ├── setup.py
│       ├── soundplay_node.launch
│       ├── sounds
│       │   ├── BACKINGUP.ogg
│       │   ├── NEEDS_PLUGGING_BADLY.ogg
│       │   ├── NEEDS_PLUGGING.ogg
│       │   ├── NEEDS_UNPLUGGING_BADLY.ogg
│       │   ├── NEEDS_UNPLUGGING.ogg
│       │   └── say-beep.wav
│       ├── src
│       │   └── sound_play
│       │       ├── __init__.py
│       │       ├── libsoundplay.py
│       │       └── libsoundplay.pyc
│       ├── test
│       │   ├── CMakeLists.txt
│       │   └── test.cpp
│       └── test.launch
└── ros_aiml
    ├── CMakeLists.txt
    ├── data
    │   ├── ai.aiml
    │   ├── alice.aiml
    │   ├── astrology.aiml
    │   ├── atomic.aiml
    │   ├── badanswer.aiml
    │   ├── biography.aiml
    │   ├── bot.aiml
    │   ├── bot_profile.aiml
    │   ├── client.aiml
    │   ├── client_profile.aiml
    │   ├── computers.aiml
    │   ├── continuation.aiml
    │   ├── date.aiml
    │   ├── default.aiml
    │   ├── drugs.aiml
    │   ├── emotion.aiml
    │   ├── food.aiml
    │   ├── geography.aiml
    │   ├── gossip.aiml
    │   ├── history.aiml
    │   ├── humor.aiml
    │   ├── imponderables.aiml
    │   ├── inquiry.aiml
    │   ├── interjection.aiml
    │   ├── iu.aiml
    │   ├── junktest.text
    │   ├── knowledge.aiml
    │   ├── literature.aiml
    │   ├── loebner10.aiml
    │   ├── money.aiml
    │   ├── movies.aiml
    │   ├── mp0.aiml
    │   ├── mp1.aiml
    │   ├── mp2.aiml
    │   ├── mp3.aiml
    │   ├── mp4.aiml
    │   ├── mp5.aiml
    │   ├── mp6.aiml
    │   ├── music.aiml
    │   ├── numbers.aiml
    │   ├── personality.aiml
    │   ├── phone.aiml
    │   ├── pickup.aiml
    │   ├── politics.aiml
    │   ├── primeminister.aiml
    │   ├── primitive-math.aiml
    │   ├── psychology.aiml
    │   ├── pyschology.aiml
    │   ├── reduction0.safe.aiml
    │   ├── reduction1.safe.aiml
    │   ├── reduction2.safe.aiml
    │   ├── reduction3.safe.aiml
    │   ├── reduction4.safe.aiml
    │   ├── reduction.names.aiml
    │   ├── reductions-update.aiml
    │   ├── religion.aiml
    │   ├── salutations.aiml
    │   ├── science.aiml
    │   ├── sex.aiml
    │   ├── sports.aiml
    │   ├── stack.aiml
    │   ├── standard.brn
    │   ├── startup.xml
    │   ├── stories.aiml
    │   ├── that.aiml
    │   ├── update1.aiml
    │   ├── update_mccormick.aiml
    │   ├── wallace.aiml
    │   └── xfind.aiml
    ├── launch
    │   ├── start_chat.launch
    │   ├── start_chat.launch~
    │   ├── start_speech_chat.launch
    │   ├── start_speech_chat.launch~
    │   ├── start_tts_chat.launch
    │   └── start_tts_chat.launch~
    ├── package.xml
    └── scripts
        ├── aiml_client.py
        ├── aiml_server.py
        ├── aiml_speech_recog_client.py
        └── aiml_tts_client.py

25 directories, 135 files

 

 

 

 

 

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