第八章机器人语音交互课后作业

代码包
课后作业
第一题
- 1、ROS编译科大讯飞SDK
- - 法一
  - 法二
- 2、本章作业功能包解析
- - （1）voice_teleop.launch
  - （2）iat_publish.cpp的main函数
  - （3）voice_teleop.cpp
  - （3）voice_assistant.cpp
- 3、运行结果
- - （1）运行仿真环境和语音控制节点
  - （2）太阳当空照，花儿对我笑
  - （3）后退，回首美丽的风景
  - （4）峰回路转，向左转
  - （5）峰回路转，向右转
  - （6）爱的魔力转圈圈

代码包

所有代码已上传至github网站：
github链接: https://github.com/YuemingBi/ros_practice/tree/master

课后作业

第一题

1、ROS编译科大讯飞SDK

法一

ROS如何编译科大讯飞语音识别功能包，以前的文章里有写过https://blog.csdn.net/weixin_42361804/article/details/104145238。如果使用这种方式编译，只实现了科大讯飞的语音功能，本章作业的其他接口还要自行补充。

法二

下载科大讯飞SDK和我提供的ch8功能包，然后把SDK的libmsc.so拷贝到/usr/lib文件夹下，把ch8功能包的所有PPID改成自己的PPID（使用查找和替换），之后就可以编译使用了。

2、本章作业功能包解析

本章作业需要ch6和ch8功能包一起编译，其中ch8的launch文件和cpp文件如下图所示：

（1）voice_teleop.launch

<launch><node name="iat_publish" pkg="robot_voice" type="iat_publish" output="screen"/><node name="voice_teleop" pkg="robot_voice" type="voice_teleop" output="screen"/><node name="voice_assistant" pkg="robot_voice" type="voice_assistant" output="screen"/></launch>

此launch文件启动三个节点，其中iat_publish是语音输入和语音识别的节点，voice_teleop是根据语音识别的结果控制机器人执行某种动作的节点，voice_assistant是根据语音识别的结果给出回应并语音输出的节点。

（2）iat_publish.cpp的main函数

int main(int argc, char* argv[])
{ros::init(argc, argv, "voiceRecognition");ros::NodeHandle n;ros::Rate loop_rate(10);// 声明Publisher和Subscriber// 订阅唤醒语音识别的信号ros::Subscriber wakeUpSub = n.subscribe("voiceWakeup", 1000, WakeUp);// 发布语音识别结果ros::Publisher voiceWordsPub = n.advertise<std_msgs::String>("voiceWords", 1000);ROS_INFO("Sleeping...");int count=0;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 = 5d3ff09c, 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(ros::ok()){// 语音识别唤醒if(wakeupFlag){ROS_INFO("Wakeup...");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::String msg;msg.data = g_result;voiceWordsPub.publish(msg);}ros::spinOnce();loop_rate.sleep();count++;}exit:MSPLogout(); // Logout...return 0;
}

此节点订阅了语音唤醒的话题/voiceWakeup，当接收到此话题的信号之后开始语音识别，然后将语音识别的结果发布给/voiceWords

（3）voice_teleop.cpp

#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "std_msgs/String.h"class SubscribeAndPublish
{public:SubscribeAndPublish(){pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1000);sub = n.subscribe("voiceWords", 1000, &SubscribeAndPublish::callback, this);}void callback(const std_msgs::String::ConstPtr& msg){std::string dataString = msg->data;if(dataString.find("前进") != std::string::npos || dataString.find("向前") != std::string::npos){//ROS_INFO("go forward");geometry_msgs::Twist msg;msg.linear.x = 0.3;msg.angular.z = 0;pub.publish(msg);}else if(dataString.find("后退") != std::string::npos || dataString.find("向后") != std::string::npos){//ROS_INFO("go back");geometry_msgs::Twist msg;msg.linear.x = -0.3;msg.angular.z = 0;pub.publish(msg);}else if(dataString.find("左转") != std::string::npos || dataString.find("向左") != std::string::npos){//ROS_INFO("turn right");geometry_msgs::Twist msg;msg.linear.x = 0;msg.angular.z = 0.3;pub.publish(msg);}else if(dataString.find("右转") != std::string::npos || dataString.find("向左") != std::string::npos){//ROS_INFO("turn left");geometry_msgs::Twist msg;msg.linear.x = 0;msg.angular.z = -0.3;pub.publish(msg);}else if(dataString.find("转圈") != std::string::npos || dataString.find("转圈圈") != std::string::npos){geometry_msgs::Twist msg;msg.linear.x = 0.3;msg.angular.z = 0.3;pub.publish(msg);}}private:ros::NodeHandle n;ros::Publisher pub;ros::Subscriber sub;};int main(int argc, char **argv)
{ros::init(argc, argv, "voice_teleop");SubscribeAndPublish SAPObject;ros::spin();return 0;
}

此节点订阅了/voiceWords话题，即语音识别的结果，然后根据语音识别的结果向/cmd_vel话题发布控制机器人速度的消息。

（3）voice_assistant.cpp

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>#include "robot_voice/qtts.h"
#include "robot_voice/msp_cmn.h"
#include "robot_voice/msp_errors.h"
#include "ros/ros.h"
#include "std_msgs/String.h"/* wav音频头部格式 */
typedef struct _wave_pcm_hdr
{char            riff[4];                // = "RIFF"int      size_8;                 // = FileSize - 8char            wave[4];                // = "WAVE"char            fmt[4];                 // = "fmt "int       fmt_size;       // = 下一个结构体的大小 : 16short int       format_tag;             // = PCM : 1short int       channels;               // = 通道数 : 1int       samples_per_sec;        // = 采样率 : 8000 | 6000 | 11025 | 16000int      avg_bytes_per_sec;      // = 每秒字节数 : samples_per_sec * bits_per_sample / 8short int       block_align;            // = 每采样点字节数 : wBitsPerSample / 8short int       bits_per_sample;        // = 量化比特数: 8 | 16char            data[4];                // = "data";int      data_size;              // = 纯数据长度 : FileSize - 44
} wave_pcm_hdr;/* 默认wav音频头部数据 */
wave_pcm_hdr default_wav_hdr =
{{ 'R', 'I', 'F', 'F' },0,{'W', 'A', 'V', 'E'},{'f', 'm', 't', ' '},16,1,1,16000,32000,2,16,{'d', 'a', 't', 'a'},0
};/* 文本合成 */
int text_to_speech(const char* src_text, const char* des_path, const char* params)
{int          ret          = -1;FILE*        fp           = NULL;const char*  sessionID    = NULL;unsigned int audio_len    = 0;wave_pcm_hdr wav_hdr      = default_wav_hdr;int          synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA;if (NULL == src_text || NULL == des_path){printf("params is error!\n");return ret;}fp = fopen(des_path, "wb");if (NULL == fp){printf("open %s error.\n", des_path);return ret;}/* 开始合成 */sessionID = QTTSSessionBegin(params, &ret);if (MSP_SUCCESS != ret){printf("QTTSSessionBegin failed, error code: %d.\n", ret);fclose(fp);return ret;}ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);if (MSP_SUCCESS != ret){printf("QTTSTextPut failed, error code: %d.\n",ret);QTTSSessionEnd(sessionID, "TextPutError");fclose(fp);return ret;}printf("正在合成 ...\n");fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头，使用采样率为16000while (1){/* 获取合成音频 */const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret);if (MSP_SUCCESS != ret)break;if (NULL != data){fwrite(data, audio_len, 1, fp);wav_hdr.data_size += audio_len; //计算data_size大小}if (MSP_TTS_FLAG_DATA_END == synth_status)break;printf(">");usleep(150*1000); //防止频繁占用CPU}printf("\n");if (MSP_SUCCESS != ret){printf("QTTSAudioGet failed, error code: %d.\n",ret);QTTSSessionEnd(sessionID, "AudioGetError");fclose(fp);return ret;}/* 修正wav文件头数据的大小 */wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8);/* 将修正过的数据写回文件头部,音频文件为wav格式 */fseek(fp, 4, 0);fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值fclose(fp);fp = NULL;/* 合成完毕 */ret = QTTSSessionEnd(sessionID, "Normal");if (MSP_SUCCESS != ret){printf("QTTSSessionEnd failed, error code: %d.\n",ret);}return ret;
}std::string to_string(int val){char buf[20];sprintf(buf, "%d", val);return std::string(buf);
}void voiceWordsCallback(const std_msgs::String::ConstPtr& msg)
{char cmd[2000];const char* text;int         ret                  = MSP_SUCCESS;const char* session_begin_params = "voice_name = xiaoyan, text_encoding = utf8, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 2";const char* filename             = "tts_sample.wav"; //合成的语音文件名称std::cout<<"I heard :"<<msg->data.c_str()<<std::endl;std::string dataString = msg->data;if(dataString.find("前进") != std::string::npos|| dataString.find("向前") != std::string::npos){char helpString[100] = "太阳当空照，花儿对我笑";text = helpString;std::cout<<text<<std::endl;}else if(dataString.find("后退") != std::string::npos|| dataString.find("向后") != std::string::npos){char helpString[100] = "后退，回首美丽的风景";text = helpString;std::cout<<text<<std::endl;}else if(dataString.find("左转") != std::string::npos|| dataString.find("向左") != std::string::npos){char helpString[100] = "峰回路转，向左转";text = helpString;std::cout<<text<<std::endl;}else if(dataString.find("右转") != std::string::npos|| dataString.find("向左") != std::string::npos){char helpString[100] = "峰回路转，向右转";text = helpString;std::cout<<text<<std::endl;}else if(dataString.find("转圈") != std::string::npos|| dataString.find("转圈圈") != std::string::npos){char helpString[100] = "爱的魔力转圈圈";text = helpString;std::cout<<text<<std::endl;}else{text = msg->data.c_str();}/* 文本合成 */printf("开始合成 ...\n");ret = text_to_speech(text, filename, session_begin_params);if (MSP_SUCCESS != ret){printf("text_to_speech failed, error code: %d.\n", ret);}printf("合成完毕\n");popen("play tts_sample.wav","r");sleep(1);
}void toExit()
{printf("按任意键退出 ...\n");getchar();MSPLogout(); //退出登录
}int main(int argc, char* argv[]){int         ret                  = MSP_SUCCESS;const char* login_params         = "appid = 5d3ff09c, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动/* 用户登录 */ret = MSPLogin(NULL, NULL, login_params);//第一个参数是用户名，第二个参数是密码，第三个参数是登录参数，用户名和密码可在http://www.xfyun.cn注册获取if (MSP_SUCCESS != ret){printf("MSPLogin failed, error code: %d.\n", ret);//goto exit ;//登录失败，退出登录toExit();}ros::init(argc,argv,"TextToSpeech");ros::NodeHandle n;ros::Subscriber sub =n.subscribe("voiceWords", 1000, voiceWordsCallback);ros::spin();exit:printf("按任意键退出 ...\n");getchar();MSPLogout(); //退出登录return 0;
}

此节点订阅了语音合成结果的话题/voiceWords，然后根据语音识别结果作出回应并语音合成。从回调函数voiceWordsCallback()中可以看到前进、后退、左转、右转、转圈的五种情况。

3、运行结果

（1）运行仿真环境和语音控制节点

roslaunch robot_voice voice_teleop.launch
roslaunch robot_gazebo view_robot_kinect_rplidar.launch

（2）太阳当空照，花儿对我笑

rostopic pub /voiceWakeup std_msgs/String "data: ''"
语音输入“前进”或“向前”，机器人向前运动，并回答“太阳当空照，花儿对我笑”

（3）后退，回首美丽的风景

rostopic pub /voiceWakeup std_msgs/String "data: ''"
语音输入“后退”或“向后”，机器人向后运动，并回答“后退，回首美丽的风景”

（4）峰回路转，向左转

rostopic pub /voiceWakeup std_msgs/String "data: ''"
语音输入“左转”或“向左”，机器人向左转，并回答“峰回路转，向左转”

（5）峰回路转，向右转

rostopic pub /voiceWakeup std_msgs/String "data: ''"
语音输入“右转”或“向右”，机器人向右转，并回答“峰回路转，向右转”

（6）爱的魔力转圈圈

rostopic pub /voiceWakeup std_msgs/String "data: ''"
语音输入“转圈”，机器人转圈，并回答“爱的魔力转圈圈”