ros讯飞语音交互学习记录

创建一个ROS工作区间

参考：https://www.cnblogs.com/huangjianxin/p/6347416.html

创建语音交互相关包

步骤参考：

https://www.ncnynl.com/archives/201702/1287.html

https://blog.csdn.net/xiao9469/article/details/109716656

https://www.ncnynl.com/archives/201702/1287.html

问题：

最后一步编译时报错

WARNING: Target "iat_sample" requests linking to directory "/home/mujiali/robot/HSR18_04/nlp_ws".  Targets may link only to libraries.  CMake is dropping the item.

WARNING: Target "iat_publish_speak" requests linking to directory "/home/mujiali/robot/HSR18_04/nlp_ws".  Targets may link only to libraries.  CMake is dropping the item.

WARNING: Target "tts_subscribe_speak" requests linking to directory "/home/mujiali/robot/HSR18_04/nlp_ws".  Targets may link only to libraries.  CMake is dropping the item.

WARNING: Target "tts_sample" requests linking to directory "/home/mujiali/robot/HSR18_04/nlp_ws".  Targets may link only to libraries.  CMake is dropping the item.

WARNING: Target "iat_record" requests linking to directory "/home/mujiali/robot/HSR18_04/nlp_ws".  Targets may link only to libraries.  CMake is dropping the item.

WARNING: Target "asr_sample" requests linking to directory "/home/mujiali/robot/HSR18_04/nlp_ws".  Targets may link only to libraries.  CMake is dropping the item.

解决：

没有连接到文件libmsc.so，找到/home/mujiali/robot/HSR18_04/nlp_ws/src/xfei_asr

路径下的文件CMakeLists.txt，修改其中的target_link_libraries，修改成如下路径

/home/mujiali/robot/HSR18_04/nlp_ws/src/xfei_asr/lib/libmsc.so -ldl -pthread

报错：

/home/mujiali/robot/HSR18_04/nlp_ws/src/xfei_asr/src/iat_sample.c: In function ‘run_iat’:

/home/mujiali/robot/HSR18_04/nlp_ws/src/xfei_asr/src/iat_sample.c:78:37: warning: initialization makes integer from pointer without a cast [-Wint-conversion]

  char   rec_result[BUFFER_SIZE]  = {NULL};

                                     ^~~~

/home/mujiali/robot/HSR18_04/nlp_ws/src/xfei_asr/src/iat_sample.c:78:37: note: (near initialization for ‘rec_result[0]’)

解决：

修改/home/mujiali/robot/HSR18_04/nlp_ws/src/xfei_asr/src路径下的

iat_sample.c文件里面参数：



char rec_result[BUFFER_SIZE] = "See you later!";

char hints[HINTS_SIZE] = "Bye!"; //hints为结束本次会话的原因描述，由用户自定义（后来运行发现，此处不必修改，忽略就行）

后来编译频频报错，也找不到原因，可能是下载xf-ros包时出现问题，中断过一次，可能包下载不完整，决定将环境删除重新下载，重新下载后按网站步骤进行不再出现报错。

出现一个提示：

/home/mujiali/catkin_ws/src/xfei_asr/src/iat_sample.c: In function ‘run_iat’:

/home/mujiali/catkin_ws/src/xfei_asr/src/iat_sample.c:78:37: warning: initialization makes integer from pointer without a cast [-Wint-conversion]

  char   rec_result[BUFFER_SIZE]  = {NULL};

                                     ^~~~

/home/mujiali/catkin_ws/src/xfei_asr/src/iat_sample.c:78:37: note: (near initialization for ‘rec_result[0]’)

/home/mujiali/catkin_ws/src/xfei_asr/src/iat_sample.c:79:32: warning: initialization makes integer from pointer without a cast [-Wint-conversion]

  char   hints[HINTS_SIZE]   = {NULL}; //hints为结束本次会话的原因描述，由用户自定义

                                ^~~~

/home/mujiali/catkin_ws/src/xfei_asr/src/iat_sample.c:79:32: note: (near initialization for ‘hints[0]’)

没有影响，忽略就行。

编译成功：

 

测试：

运行

roscd xfei_asr/src

时注意所在路径，每个电脑不同

我是直接跳转到/home/mujiali/robot/HSR18_04/nlp_ws/src/xfei_asr/src路径下：

mujiali@mujiali-Inspiron-5485:~/robot/HSR18_04/nlp_ws/src/xfei_asr/src$ rosrun xfei_asr  tts_subscribe_speak



###########################################################################

## 语音合成（Text To Speech，TTS）技术能够自动将任意文字实时转换为连续的 ##

## 自然语音，是一种能够在任何时间、任何地点，向任何人提供语音信息服务的  ##

## 高效便捷手段，非常符合信息时代海量数据、动态更新和个性化查询的需求。  ##

###########################################################################

I heard :测试ncnynl.com

开始合成 ...

正在合成 ...

>>>>

合成完毕

sh: 1: mplayer: not found

^CMplayer Run Success

按任意键退出 ...

没有mplayer，安装mplayer： https://blog.csdn.net/libai13/article/details/107381860

报错：

do_connect: could not connect to socket

connect: No such file or directory

Failed to open LIRC support. You will not be able to use your remote control.

修改mplayer即可

参考：https://blog.csdn.net/u011573853/article/details/103164128

成功：

 

 

结合图灵机器人：

https://blog.csdn.net/CHENKAIFAN__/article/details/80611020

https://blog.csdn.net/CHENKAIFAN__/article/details/80617659

报错10107：参数const char* session_begin_params不能按网站中复制，需要自己原来的参数。

报错10407：没有修改APPID。

每次修改后都需要重新编译再运行。

 

图灵机器人还未认证成功

现在的运行结果应该是key和一些在图灵机器人上的参数没有设置导致的。