ROS与语音交互教程-ROS下使用pocketsphinx语音控制机器人运动

ROS与语音交互教程-ROS下使用pocketsphinx语音控制机器人运动

说明：

• 介绍如何在ROS下使用pocketsphinx语音控制机器人运动

步骤：

• 编写语音控制节点voice_cmd_vel.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import String

# 初始化ROS节点，声明一个发布速度控制的Publisher
rospy.init_node('voice_teleop')
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
r = rospy.Rate(10)

# 接收到语音命令后发布速度指令
def get_voice(data):
    voice_text=data.data
    rospy.loginfo("I said:: %s",voice_text)
    twist = Twist()
    
    if voice_text == "go":
    twist.linear.x = 0.3 
    elif voice_text == "back":
        twist.linear.x = -0.3 
    elif voice_text == "left":
        twist.angular.z = 0.3 
    elif voice_text == "right":
        twist.angular.z = -0.3 
    
    pub.publish(twist)

# 订阅pocketsphinx语音识别的输出字符
def teleop():
    rospy.loginfo("Starting voice Teleop")
    rospy.Subscriber("/recognizer/output", String, get_voice)
    rospy.spin()

while not rospy.is_shutdown():
    teleop()

代码解释：

通过一个Subscriber订阅/recognizer/output话题，接收到语音识别的结果后进入回调函数，简单处理后通过Publisher发布控制机器人运动的速度控制指令

• [Remote PC] 启动roscore

roscore

• [TurtleBot] 启动burger

roslaunch turtlebot3_bringup turtlebot3_robot.launch

• [Remote PC]运行，启动所有节点

roslaunch robot_voice voice_commands.launch
rosrun robot_voice voice_teleop.py

• 通过语音“go”，“back”，“left”，“right”，控制机器人运动