在前面文章小車實現語音識別的基礎之上，對小車實現語音控制運動

修改CMakeLists.txt文件

在末尾加上以下代碼：

add_executable(sub_word src/sub_word.cpp) target_link_libraries(sub_word ${catkin_LIBRARIES} )

修改發布文件

打開xfei_asr/src目錄下的int_publish_speak.cpp文件，然后將下面的代碼覆蓋進去，請將appid填寫為你在訊飛那申請的appid 。修改后的發布文件，將是全程自動喚醒不再是每次喚醒都需要手動輸入代碼。

#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 = 1 ;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++ < 3)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");sleep(10000);wakeupFlag=1;}int main(int argc, char* argv[]){// 初始化ROSros::init(argc, argv, "voiceRecognition");ros::NodeHandle n;ros::Rate loop_rate(10);// 聲明Publisher和Subscriber// 訂閱喚醒語音識別的信號ros::Subscriber wakeUpSub = n.subscribe("voiceWakeup", 1000, WakeUp); // 訂閱喚醒語音識別的信號 ros::Publisher voiceWordsPub = n.advertise<std_msgs::String>("voiceWords", 1000); ROS_INFO("Sleeping...");int count=0;while(ros::ok()){// 語音識別喚醒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 10 seconds\n");demo_mic(session_begin_params);printf("10 sec passed\n");wakeupFlag=1;MSPLogout();}// 語音識別完成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;}

添加指令文件

創建新的文件命名為sub_word.cpp 粘貼以下代碼。具體識別控制指令執行請按需修改

#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<<"接收到指令："<<msg->data.c_str()<<endl;string str1 = msg->data.c_str();string str2 = "前進。";string str2_1 = "up.";string str3 = "后退。";string str3_1 = "back.";string str4 = "左轉。";string str4_1 = "left.";string str5 = "右轉。";string str5_1 = "right.";string str6 = "停。";string str6_1 = "stop.";if(str1 == str2 || str1==str2_1){vel_cmd.linear.x = 1;vel_cmd.angular.z = 0;pthread_create(&pth_[0],NULL,vel_ctr,NULL);}if(str1 == str3 || str1 == str3_1){vel_cmd.linear.x = -1;vel_cmd.angular.z = 0;pthread_create(&pth_[1],NULL,vel_ctr,NULL);}if(str1 == str4 || str1 == str4_1){vel_cmd.linear.x = 0;vel_cmd.angular.z = 1;pthread_create(&pth_[2],NULL,vel_ctr,NULL);}if(str1 == str5 || str1 == str5_1){vel_cmd.linear.x = 0;vel_cmd.angular.z = -1;pthread_create(&pth_[3],NULL,vel_ctr,NULL);}if(str1 == str6 || str1 == str6_1){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",10);ros::Subscriber sub = n.subscribe("voiceWords",10,callback); cout<<"語音控制程序已開啟"<<endl; cout<<"中文關鍵字控制字：前進 后退 左轉 右轉 停"<<endl; cout<<"英文關鍵字控制字：UP BACK LEFT RIGHT STOP"<<endl; cout<<"程序將識別標準的普通話和英語單詞"<<endl;ros::spin(); }

測試

測試前記得編譯啊

依次在終端執行以下命令，然后對麥克風說控制命令。建議打開翻譯等軟件說標準的普通話或英文，識別度更高

roslaunch e100_sim gazebo.launch rosrun xfei_asr iat_publish_speak rosrun xfei_asr sub_word

成功控制小車運動。

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