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ROSrclcpp::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 downint 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 filesset(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 filesset(ament_cmake_cpplint_FOUND TRUE)ament_lint_auto_find_test_dependencies()
endif()ament_package()set(dependenciesrclcppstd_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${PROJECT_SOURCE_DIR}libmsc.so -ldl -pthread
)
install(TARGETSiat_publishDESTINATION lib/${PROJECT_NAME}
)
install(TARGETStts_subscribeDESTINATION 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

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