安装语音识别模块
首先我们需要安装语音识别的模块，可以选择pocketphinxk开源包
但是pocketphinx识别，需要自己导入识别文本 ，很麻烦，因此我们选用科大讯飞SDK。
进入科大讯飞注册： /?ch=xfow
记住APPid 和 linux MSC
cd catin_ws/srcgit clone /ncnynl/xf-ros.git
把CMakeLists.txt修改
target_link_libraries(asr_sample${catkin_LIBRARIES} /home/ubu/catkin_ws/src/xfei_asr/lib/libmsc.so -ldl -pthread)
把 ubu 换成 自己的主机名
再打开catin_ws/src/xfei_asr/src下的所有C文件和cpp文件
ctrl+f 搜索appid
把appid换成在科大讯飞注册的appid
然后把下载的SDK中的lib下选择适合自己系统的
放到xfei_asr/src/lib中
进到src中 编写cpp文件
sub_word.cpp
#include<ros/ros.h>#include<geometry_msgs/Twist.h>#include<std_msgs/String.h>#include<pthread.h>#include<iostream>#include<stdio.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 std_msgs::String::ConstPtr& msg){cout<<"好的："<<msg->data.c_str()<<endl;string str1 = msg->data.c_str();string str2 = "前进。";string str3 = "后退。";string str4 = "向左转。";string str5 = "向右转。";string str6 = "停止。";if(str1 == str2){vel_cmd.linear.x = 1;vel_cmd.angular.z = 0;pthread_create(&pth_[0],NULL,vel_ctr,NULL);}if(str1 == str3){vel_cmd.linear.x = -1;vel_cmd.angular.z = 0;pthread_create(&pth_[1],NULL,vel_ctr,NULL);}if(str1 == str4){vel_cmd.linear.x = 0;vel_cmd.angular.z = 1;pthread_create(&pth_[2],NULL,vel_ctr,NULL);}if(str1 == str5){vel_cmd.linear.x = 0;vel_cmd.angular.z = -1;pthread_create(&pth_[3],NULL,vel_ctr,NULL);}if(str1 == str6){vel_cmd.linear.x = 0;vel_cmd.angular.z = 0;pthread_create(&pth_[0],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>("/ria_base_controller/cmd_vel",5);ros::Subscriber sub = n.subscribe("voiceWords",5,callback);cout<<"您好！你可以语音控制啦！"<<endl;cout<<"前进：向前行驶"<<endl;cout<<"后退：向后行驶"<<endl;cout<<"向左转：向左调头"<<endl;cout<<"向右转：向右调头"<<endl;cout<<"停止"<<endl;ros::spin();}
在CMakeLists.txt中添加要编译新的cpp文件
add_executable(sub_word src/sub_word.cpp)target_link_libraries(sub_word ${catkin_LIBRARIES} )
安装E100开源机器人
这里有非常快速简单的教程
/gaitech-robotics/RIA-E100
pub = n.advertise<geometry_msgs::Twist>("/ria_base_controller/cmd_vel",5);
这个代码向E100小车话题发送移动的信息
为了把语音识别修改为持续唤醒，修改 iat_publish.cpp
重写wakeUp函数：
void WakeUp(const std_msgs::String::ConstPtr& msg){printf("waking up\r\n");usleep(700*1000);wakeupFlag=1;}void Wake(){printf("waking up\r\n");usleep(700*1000);wakeupFlag=1;}
修改为主动唤醒
修改后代码如下：
/** 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++ < 10)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;}void Wake(){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(5);// 声明Publisher和Subscriber// 订阅唤醒语音识别的信号ros::Subscriber wakeUpSub = n.subscribe("voiceWakeup", 500, WakeUp); // 订阅唤醒语音识别的信号 ros::Publisher voiceWordsPub = n.advertise<std_msgs::String>("voiceWords", 500); 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 = 5fd079c6, 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 5 seconds\n");demo_mic(session_begin_params);printf("5 sec passed\n");wakeupFlag=0;MSPLogout();}// 语音识别完成if(resultFlag){resultFlag=0;std_msgs::String msg;msg.data = g_result;voiceWordsPub.publish(msg);printf("pub\n");}Wake();ros::spinOnce();loop_rate.sleep();count++;}exit:MSPLogout(); // Logout...return 0;}
最后编译工作空间：
cd ~/catkin_ws && catkin_make
执行：
roslaunch e100_sim gazebo.launchrosrun xfei_asr sub_wordrosrun xfei_asr iat_publish_speakrosrun xfei_asr iat_publish
