ROS下语音控制移动机器人代码

最新推荐文章于 2024-07-12 13:14:50 发布

pd很不专业

最新推荐文章于 2024-07-12 13:14:50 发布

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分类专栏： ros基础学习

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#include<ros/ros.h>
#include<geometry_msgs/Twist.h>
#include<std_msgs/String.h>
#include<pthread.h>
#include<iostream>
#include<stdio.h>

using namespace std;

ros::Publisher pub;
geometry_msgs::Twist vel_cmd;
pthread_t pth_[4];

void* vel_ctr(void* arg)
{
   while(true)
   {
       usleep(50000);
       pub.publish(vel_cmd);
       ros::spinOnce();
   }
   return 0;
}

void callback(const std_msgs::String::ConstPtr& msg)
{

ROS_INFO("I said: %s",msg->data.c_str());

   if(msg->data == "go")
   {
       vel_cmd.linear.x = 1;
       vel_cmd.angular.z = 0;
       pthread_create(&pth_[0],NULL,vel_ctr,NULL);
   }
   if(msg->data == "back")
   {
       vel_cmd.linear.x = -1;
       vel_cmd.angular.z = 0;
       pthread_create(&pth_[1],NULL,vel_ctr,NULL);
   }
   if(msg->data == "left")
   {
       vel_cmd.linear.x = 0;
       vel_cmd.angular.z = 1;
       pthread_create(&pth_[2],NULL,vel_ctr,NULL);
   }
   if(msg->data == "right")
   {
       vel_cmd.linear.x = 0;
       vel_cmd.angular.z = -1;
       pthread_create(&pth_[3],NULL,vel_ctr,NULL);
   }

}

int main(int argc, char** argv)
{
ros::init(argc,argv,"voice_vel");
ros::NodeHandle n;

   pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10);
   ros::Subscriber sub = n.subscribe("/recognizer/output",10,callback);
   ros::spin();
}