ROS+科大讯飞语音识别控制机器人

科大讯飞语音识别控制实际机器人运动。

本文将ros与语音识别想结合进行开发。进行以下步骤，
1、创作ros工作空间
2、安装mpalyer播放器

sudo apt-get install mplayer

3、将讯非的语音库动态文件.so文件放到/usr/lib/下
4、ros工程目录src下新建文件xf_asr.cpp 并将以下内容复制进去，appid改成你自己的（官网申请）。

/*
* 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。
*/#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include "qisr.h"
#include "msp_cmn.h"
#include "msp_errors.h"
#include "speech_recognizer.h"
#include <iconv.h>#include "ros/ros.h"
#include "std_msgs/String.h"#define FRAME_LEN   640
#define BUFFER_SIZE 4096int wakeupFlag   = 0 ;
int resultFlag   = 0 ;static void show_result(char *string, char is_over)
{resultFlag=1;   printf("\rResult: [ %s ]", string);if(is_over)putchar('\n');
}static char *g_result = NULL;static unsigned int g_buffersize = BUFFER_SIZE;void on_result(const char *result, char is_last)
{if (result) {size_t left = g_buffersize - 1 - strlen(g_result);size_t size = strlen(result);if (left < size) {g_result = (char*)realloc(g_result, g_buffersize + BUFFER_SIZE);if (g_result)g_buffersize += BUFFER_SIZE;else {printf("mem alloc failed\n");return;}}strncat(g_result, result, size);show_result(g_result, is_last);}
}void on_speech_begin()
{if (g_result){free(g_result);}g_result = (char*)malloc(BUFFER_SIZE);g_buffersize = BUFFER_SIZE;memset(g_result, 0, g_buffersize);printf("Start Listening...\n");
}
void on_speech_end(int reason)
{if (reason == END_REASON_VAD_DETECT)printf("\nSpeaking done \n");elseprintf("\nRecognizer error %d\n", reason);
}/* demo recognize the audio from microphone */
static void demo_mic(const char* session_begin_params)
{int errcode;int i = 0;struct speech_rec iat;struct speech_rec_notifier recnotifier = {on_result,on_speech_begin,on_speech_end};errcode = sr_init(&iat, session_begin_params, SR_MIC, &recnotifier);if (errcode) {printf("speech recognizer init failed\n");return;}errcode = sr_start_listening(&iat);if (errcode) {printf("start listen failed %d\n", errcode);}/* demo 10 seconds recording */while(i++ < 2)sleep(1);errcode = sr_stop_listening(&iat);if (errcode) {printf("stop listening failed %d\n", errcode);}sr_uninit(&iat);
}/* main thread: start/stop record ; query the result of recgonization.* record thread: record callback(data write)* helper thread: ui(keystroke detection)*/void WakeUp(const std_msgs::String::ConstPtr& msg)
{printf("waking up\r\n");usleep(700*1000);wakeupFlag=1;
}int main(int argc, char* argv[])
{// 初始化ROSros::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);   // 订阅唤醒语音识别的信号    ros::Publisher voiceWordsPub = n.advertise<std_msgs::String>("voiceWords", 1000);  ROS_INFO("Sleeping...");int count=0;while(ros::ok()){// 语音识别唤醒if (wakeupFlag){ROS_INFO("Wakeup...");int ret = MSP_SUCCESS;const char* login_params = "appid = , work_dir = .";const char* session_begin_params ="sub = iat, domain = iat, language = zh_cn, ""accent = mandarin, sample_rate = 16000, ""result_type = plain, result_encoding = utf8";ret = MSPLogin(NULL, NULL, login_params);if(MSP_SUCCESS != ret){MSPLogout();printf("MSPLogin failed , Error code %d.\n",ret);}printf("Demo recognizing the speech from microphone\n");printf("Speak in 3 seconds\n");demo_mic(session_begin_params);printf("3 sec passed\n");wakeupFlag=1;MSPLogout();}// 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;
}

5、CMakeLists.txt增加以下代码

add_executable(xf_asr src/xf_asr.cpp)
target_link_libraries(xf_asr ${catkin_LIBRARIES} -lmsc  -ldl -lpthread -lm -lrt)
add_dependencies(xf_asr xf_voice_generate_messages_cpp)（这句要不要都可以）

6、回到工作空间编译，编译后source一下。此时语音识别已经可以运行，打开新的终端运行roscore。在另一个终端运行asr。
7、添加语音控制的package，新创建一个新的package，在新的src里面创建voice_cmd.cpp。复制一下代码、

#include<ros/ros.h>
#include<geometry_msgs/Twist.h>
#include<std_msgs/String.h>
#include<pthread.h>
#include<iostream>
#include<stdio.h>
//#include<string.h>
using namespace std;
ros::Publisher pub;
geometry_msgs::Twist vel_cmd;
pthread_t pth_[5];void* vel_ctr(void* arg)
{while(true){pub.publish(vel_cmd);ros::spinOnce();sleep(1);}return 0;
}
//void callback(const package_name::type_name & msg)
void callback(const std_msgs::String::ConstPtr& msg)
{cout<<"收到："<<msg->data.c_str()<<endl;string str1 = msg->data.c_str();string str2 = "11";string str3 = "22";string str4 = "33";string str5 = "44";string str6 = "55";//if(str1 == str2)if(str1.find("前进"))
//    if(strstr(&str1, &str2)){//  cout<<"11111"<<endl;vel_cmd.linear.x = 0.2;vel_cmd.angular.z = 0;pthread_create(&pth_[0],NULL,vel_ctr,NULL);}//if(str1 == str3)if(str1.find("后退“))//if(strstr(&str1 , &str3)){vel_cmd.linear.x = -0.2;vel_cmd.angular.z = 0;pthread_create(&pth_[1],NULL,vel_ctr,NULL);}if(str1.find("左转"))//if(strstr(&str1 , &str4)){vel_cmd.linear.x = 0;vel_cmd.angular.z = 0.05;pthread_create(&pth_[2],NULL,vel_ctr,NULL);}if(str1.find("右转"))//if(strstr(&str1 ,&str5)){vel_cmd.linear.x = 0;vel_cmd.angular.z = -0.05;pthread_create(&pth_[3],NULL,vel_ctr,NULL);}if(str1.find("停止"))//if(strstr(&str1 ,&str6)){vel_cmd.linear.x = 0;vel_cmd.angular.z = 0;pthread_create(&pth_[4],NULL,vel_ctr,NULL);}
}int main(int argc, char** argv)
{ros::init(argc, argv, "sub_word");ros::NodeHandle n;//pub = n.advertise<geometry_msgs::Twist>("/cmd_vel_mux/input/teleop",10);pub = n.advertise<geometry_msgs::Twist>("/mobile_base/mobile_base_controller/cmd_vel",1000);ros::Subscriber sub = n.subscribe("/voiceWords",10,callback);
//    ros::Subscriber sub = n.subscribe("read",10,callback);//ros::Publisher pub = n.advertise<geometry_msgs::Twist>("/cmd_vel_mux/input/teleop", 10);cout<<"您好！你可以语音控制啦！"<<endl;
cout<<"向前行———————————>前进"<<endl;
cout<<"向后退———————————>后退"<<endl;
cout<<"向左转———————————>左转"<<endl;
cout<<"向右转———————————>右转"<<endl;
cout<<"使停止———————————>停止"<<endl;ros::spin();
}

8、同理在Cmakelist加上以下：

add_executable(voice_cmd src/voice_cmd.cpp)
target_link_libraries(voice_cmd ${catkin_LIBRARIES} )
add_dependencies(voice_cmd voice_cmd_generate_messages_cpp)

9、回到工作空间编译，运行。
10、运行上面两个模块后再打开一个终端运行rqt_graph查看节点图是否联通。（完）

或者用python去控制机器人运动，订阅asr的内容，
以下是python代码：

#!/usr/bin/env python
# This Python file uses the following encoding: utf-8
import os, sysimport roslib; roslib.load_manifest('pocketsphinx')
import rospy
import mathfrom geometry_msgs.msg import Twist
from std_msgs.msg import Stringclass voice_cmd_vel:def __init__(self):rospy.on_shutdown(self.cleanup)self.speed = 0.2self.msg = Twist()# publish to cmd_vel, subscribe to speech output#self.pub_ = rospy.Publisher('/mobile_base/commands/velocity', Twist)self.pub_ = rospy.Publisher('/mobile_base/mobile_base_controller/cmd_vel', Twist)rospy.Subscriber('/voiceWords', String, self.speechCb)r = rospy.Rate(10.0)while not rospy.is_shutdown():self.pub_.publish(self.msg)r.sleep()def speechCb(self, msg):rospy.loginfo(msg.data)#if msg.data.find("full speed") > -1:if msg.data.find("加速") > -1:if self.speed == 0.2:self.msg.linear.x = self.msg.linear.x*2self.msg.angular.z = self.msg.angular.z*2self.speed = 0.4if msg.data.find("减速") > -1:if self.speed == 0.4:self.msg.linear.x = self.msg.linear.x/2self.msg.angular.z = self.msg.angular.z/2self.speed = 0.2if msg.data.find("前进") > -1:#if msg.data.find("forward") > -1:    self.msg.linear.x = self.speedself.msg.angular.z = 0elif msg.data.find("左转") > -1:if self.msg.linear.x != 0:if self.msg.angular.z < self.speed:self.msg.angular.z += 0.05else:        self.msg.angular.z = self.speed*2elif msg.data.find("右转") > -1:    if self.msg.linear.x != 0:if self.msg.angular.z > -self.speed:self.msg.angular.z -= 0.05else:        self.msg.angular.z = -self.speed*2elif msg.data.find("后退") > -1:self.msg.linear.x = -self.speedself.msg.angular.z = 0elif msg.data.find("停止") > -1 or msg.data.find("立定") > -1:          self.msg = Twist()self.pub_.publish(self.msg)def cleanup(self):# stop the robot!twist = Twist()self.pub_.publish(twist)if __name__=="__main__":rospy.init_node('voice_cmd_vel')try:voice_cmd_vel()except:pass

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