ros2 for voice

ros2语音交互，实现机器人【口耳】，使用科大讯飞sdk

ros1参考：https://blog.csdn.net/qq_39400324/article/details/125351722

• ros1转ros2问题

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

int main(int argc, char* argv[])
{
	// 初始化ROS
	rclcpp::init(argc, argv);
    auto node = std::make_shared<rclcpp::Node>("voiceRecognition");
    rclcpp::WallRate loop_rate(10.0);
    

    // 声明Publisher和Subscriber
    // 订阅唤醒语音识别的信号
    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr wakeUpSub = node->create_subscription<std_msgs::msg::String>("voiceWakeup", 1000, WakeUp);   
    // 订阅唤醒语音识别的信号    

    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr voiceWordsPub = node->create_publisher<std_msgs::msg::String>("voiceWords", 1000);  

	RCLCPP_INFO(node->get_logger(), "Sleeping...");
    int count=0;
	// kd code down

	int ret = MSP_SUCCESS;
	int upload_on =	1; /* whether upload the user word */
	/* login params, please do keep the appid correct */
	const char* login_params = "appid = 52b7f17b, work_dir = .";
	int aud_src = 0; /* from mic or file */

	/*
	* See "iFlytek MSC Reference Manual"
	*/
	const char* session_begin_params =
		"sub = iat, domain = iat, language = zh_cn, "
		"accent = mandarin, sample_rate = 16000, "
		"result_type = plain, result_encoding = utf8";

	/* Login first. the 1st arg is username, the 2nd arg is password
	 * just set them as NULL. the 3rd arg is login paramertes 
	 * */
	ret = MSPLogin(NULL, NULL, login_params);
	if (MSP_SUCCESS != ret)	{
		printf("MSPLogin failed , Error code %d.\n",ret);
		goto exit; // login fail, exit the program
	}

	while(rclcpp::ok())
	{
		// 语音识别唤醒     
        if(wakeupFlag)
        {
			printf("Demo recognizing the speech from microphone\n");
			printf("Speak in 8 seconds\n");

			demo_mic(session_begin_params);

			printf("8 sec passed\n");
			wakeupFlag=0;
		}

		// 语音识别完成
		if(resultFlag){
			resultFlag=0;
			std_msgs::msg::String msg;
			msg.data = g_result;
			voiceWordsPub->publish(msg);
		}
		rclcpp::spin_some(node);
        loop_rate.sleep();
        count++;
	}
exit:
	MSPLogout(); // Logout...

	return 0;
}

• cmakelist.txt 编译依赖问题

cmake_minimum_required(VERSION 3.8)
project(voice)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()



# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
include_directories(include)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()


set(dependencies
  rclcpp
  std_msgs
)

add_executable(iat_publish src/iat_publish.cpp src/speech_recognizer.c src/linuxrec.c)
ament_target_dependencies(iat_publish ${dependencies})

add_executable(tts_subscribe src/tts_subscribe.cpp)
ament_target_dependencies(tts_subscribe ${dependencies})

target_link_libraries(iat_publish
  ${PROJECT_SOURCE_DIR}
  libmsc.so -ldl -lpthread -lm -lrt -lasound
)

target_link_libraries(tts_subscribe
  ${PROJECT_SOURCE_DIR}
  libmsc.so -ldl -pthread 
)
install(TARGETS
  iat_publish
  DESTINATION lib/${PROJECT_NAME}
)
install(TARGETS
  tts_subscribe
  DESTINATION lib/${PROJECT_NAME}
)

• sh: 1: play: not found问题

sudo apt-get install sox
sudo apt-get install sox libsox-fmt-all
play tts_sample.wav