以上节tts语音输出为例
下载sdk链接:http://www.xfyun.cn/sdk/dispatcher
1、下载SDK,解压;
2、在ROS工作空间下创建一个Package;
catkin_create_pkg tts_voice roscpp rospy std_msgs
3、将SDK文件夹中的头文件,即下载的SDK文件夹中include文件夹下的 .h文件拷贝至tts_voice/include/下;
4、将SDK文件夹中sample/tts_sample中的xf_tts.cpp文件拷贝至tts_voice/src/下;
5、将SDK文件夹中libs/x64/libmsc.so文件拷贝至/user/libs/下;
6、打开CMakelist,
1)修改include_directories为:即包括拷贝的头文件所在的include目录
include_directories(
${catkin_INCLUDE_DIRS}
include
)
2)添加:
add_executable(tts_voice_node src/xf_tts.cpp)
target_link_libraries(tts_voice_node
${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread
)
# 生成可执行文件
# 添加链接库,其中动态链接库路径按实际修改
CmakeLists.txt
cmake_minimum_required(VERSION 2.8.3) project(tts_voice) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs ) catkin_package( # INCLUDE_DIRS include # LIBRARIES tts_voice # CATKIN_DEPENDS roscpp rospy std_msgs # DEPENDS system_lib ) ########### ## Build ## ########### ## Specify additional locations of header files ## Your package locations should be listed before other locations # include_directories(include) include_directories( ${catkin_INCLUDE_DIRS} include ) ## Declare a C++ executable add_executable(tts_voice_node src/xf_tts.cpp) ## Specify libraries to link a library or executable target against target_link_libraries(tts_voice_node ${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread )
xf_tts.cpp源文件
/* * 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。 */ #include <ros/ros.h> #include "std_msgs/String.h" #include <stdio.h> #include <string.h> #include <stdlib.h> #include <unistd.h> #include "qtts.h" #include "msp_cmn.h" #include "msp_errors.h" const char* FileName = "/home/cam/Music/voice.wav"; const char* PlayPath = "play /home/cam/Music/voice.wav"; /* wav音频头部格式 */ typedef struct _wave_pcm_hdr { char riff[4]; // = "RIFF" int size_8; // = FileSize - 8 char wave[4]; // = "WAVE" char fmt[4];