guyueju第五周ROS作业（robot_voice 部分）

题目要求：通过对科大讯飞SDK的使用，实现对机器人的语音控制。

提前说明：本贴只是能识别两个英文（forward,stop)。其余语音同理。

个人思路：因为我们根据视频中所讲，已经知道iat_publish.cpp的功能是：语音听写(iFly Auto Transform)技术能够实时地将语音转换成对应的文字。发布一个话题"voiceWords"

    ros::Publisher voiceWordsPub = n.advertise<std_msgs::String>("voiceWords", 1000);  

所以只需要创建一个node订阅voiceWords这个话题，并在回调函数中实现对速度的赋值，并在cmd_vel话题中将消息

geometry_msgs::Twist vel_msg

发布，就能实现对小车的控制。

解决方案：

1> 创建voice_controll.cpp，其内容如下，

/*
*此节点订阅语音消息，发布速度指令
*/
#include<ros/ros.h>
#include<geometry_msgs/Twist.h>
#include<std_msgs/String.h>
#include<string>



//string forward = "forward";
//String backward = "向后";
//String leftward = "向左";
//String rightward = "向右";

geometry_msgs::Twist vel_msg;          //发布的速度消息


void voiceCallback(const std_msgs::StringConstPtr& msg)//回调函数，接收到voice后启动该函数
{

    //ROS_INFO("msg get!");

      // 将接收到的消息打印出来
    ROS_INFO("I heard: [%s]", msg->data.c_str());


    if (msg->data == "forward\u3002")
    {
       vel_msg.linear.x = 1.0;
       ROS_INFO("forward vel_msg has been modifided!");
    }

    if (msg->data == "stop\uFF01")
    {
       vel_msg.linear.x = 0.0;
       ROS_INFO("stop!!");
    }

    
/*
    if (msg->data = backword)
    {
        
    }
    
        if (msg->data = leftward)
    {

    }

    if (msg->data = rightword)
    {
        
    }
  */  
    


}

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "voice_controll");
    ros::NodeHandle node;
    ros::Subscriber sub = node.subscribe("voiceWords",1000,voiceCallback);  //订阅语音识别之后的话题
    
    ros::Publisher pub = node.advertise<geometry_msgs::Twist>("/cmd_vel",10);//定义一个速度发布者

    ros::Rate rate(10);  //频率

    while (ros::ok())
    {
        pub.publish(vel_msg);

        

        ros::spinOnce();

        rate.sleep();
    }
    



    
    return 0;
}

2> 创建launch文件voice_controll.launch如下，

<launch>
	<arg name="model" default="$(find xacro)/xacro --inorder '$(find wheel_chair_description)/urdf/wheel_chair.xacro'" />
	<arg name="gui" default="true" />

	<param name="robot_description" command="$(arg model)" />

    <!-- 设置GUI参数，显示关节控制插件 -->
	<param name="use_gui" value="$(arg gui)"/>

	<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
        <rosparam file="$(find wheel_chair_description)/config/fake_wheel_chair_arbotix.yaml" command="load" />
        <param name="sim" value="true"/>
    </node>

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

	<!-- 运行robot_state_publisher节点，发布tf  -->
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

    <!-- 运行rviz可视化界面 -->
	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find wheel_chair_description)/config/wheel_chair_arbotix.rviz" required="true" />

    <!--运行自己写的语音控制节点voice_controll-->
	<node name="voice_controll" pkg="robot_voice" type="voice_controll" output="screen"/>

    <!--运行一个语音识别节点iat_publish，基于科大讯飞语音识别的文件-->
	<node name="iat_publish" pkg="robot_voice" type="iat_publish" output="screen"/>

</launch>

该文件借鉴之前的wheel_chair文件，具体的wheel_chair_description文件见https://github.com/suyunzzz/ROS_homework。

3> 启动上述的launch文件，但是iat_publish节点需要订阅一个话题以激活，所以新开一个终端输入激活消息

rostopic pub /voiceWakeup std_msgs/String "data: 'any thing'" 

然后根据提示发出指令即可。

运行结果如下图：

s@s:~$ roslaunch robot_voice voice_controll.launch 
... logging to /home/s/.ros/log/2086a790-a63f-11e9-9860-485f9946ea55/roslaunch-s-13920.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://s:46537/

SUMMARY
========

PARAMETERS
 * /arbotix/controllers/base_controller/Kd: 12
 * /arbotix/controllers/base_controller/Ki: 0
 * /arbotix/controllers/base_controller/Ko: 50
 * /arbotix/controllers/base_controller/Kp: 12
 * /arbotix/controllers/base_controller/accel_limit: 1.0
 * /arbotix/controllers/base_controller/base_frame_id: base_footprint
 * /arbotix/controllers/base_controller/base_width: 0.26
 * /arbotix/controllers/base_controller/ticks_meter: 4100
 * /arbotix/controllers/base_controller/type: diff_controller
 * /arbotix/sim: True
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_gui: True

NODES
  /
    arbotix (arbotix_python/arbotix_driver)
    iat_publish (robot_voice/iat_publish)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    voice_controll (robot_voice/voice_controll)

auto-starting new master
process[master]: started with pid [13933]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2086a790-a63f-11e9-9860-485f9946ea55
process[rosout-1]: started with pid [13946]
started core service [/rosout]
process[arbotix-2]: started with pid [13957]
process[joint_state_publisher-3]: started with pid [13964]
process[robot_state_publisher-4]: started with pid [13965]
process[rviz-5]: started with pid [13966]
process[voice_controll-6]: started with pid [13968]
process[iat_publish-7]: started with pid [13982]
[ INFO] [1563112567.900509661]: Sleeping...
[INFO] [1563112568.364309]: ArbotiX being simulated.
[INFO] [1563112568.376347]: Started DiffController (base_controller). Geometry: 0.26m wide, 4100.0 ticks/m.
waking up
[ INFO] [1563112578.698446265]: Wakeup...
Demo recognizing the speech from microphone
Speak in 10 seconds
Start Listening...
Result: [ forward。 ]

Speaking done 
Not started or already stopped.
10 sec passed
[ INFO] [1563112588.791570908]: I heard: [forward???]
[ INFO] [1563112588.791655105]: forward vel_msg has been modifided!
^C[iat_publish-7] killing on exit
[voice_controll-6] killing on exit
[rviz-5] killing on exit
[robot_state_publisher-4] killing on exit
[joint_state_publisher-3] killing on exit
[arbotix-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

s@s:~$ rostopic pub /voiceWakeup std_msgs/String "data: '2'" 
publishing and latching message. Press ctrl-C to terminate