html5网站演示,品牌网站建是啥,企业馆,网站备案网站名称怎么填环境配置#xff1a; 电脑端#xff1a; ubuntu22.04实体机作为上位机 ROS版本#xff1a;ros2-humble 实体机器人#xff1a; STM32 思岚A1激光雷达 科大讯飞语音SDK 讯飞开放平台-以语音交互为核心的人工智能开放平台
实现步骤#xff1a; 1. 下载和处理科大讯飞语音模…环境配置 电脑端 ubuntu22.04实体机作为上位机 ROS版本ros2-humble 实体机器人 STM32 思岚A1激光雷达 科大讯飞语音SDK 讯飞开放平台-以语音交互为核心的人工智能开放平台
实现步骤 1. 下载和处理科大讯飞语音模块 1进入官网的控制台 2在左侧导航栏中选择 语音识别- 语音听写 3下载语音模块 2.科大讯飞SDK的处理
新建一个工作空间里面新建两个文件夹 src voice_ros2
将SDK压缩包解压后的文件放入voice_ros2中进入sample目录的iat_online_record_sample目录下运行下面的命令
source 64bit_make.sh在bin目录下执行对应的可执行文件了 ./iat_online_record_sample如果遇到下列问题error while loading shared libraries: libmsc.so: cannot open shared object file: No such file or directory 就把在终端中进入下列目录中 执行命令
sudo cp libmsc.so /usr/local/lib
sudo ldconfig3.上位机实现 src 文件夹中放的是 两个功能包base 中是stm32的ROS2驱动包teleop_twist_keyboard是github上下载的键盘控制节点功能包地址如下
GitHub - ros2/teleop_twist_keyboard at ardent 这个目录下的文件是SDK解压后的文件其中 红框中的voice.py是也单独编写的文件
import subprocess
import multiprocessing
import timedef run_iat_online_record_sample(queue):process subprocess.Popen([./bin/iat_online_record_sample], stdoutsubprocess.PIPE, stdinsubprocess.PIPE, stderrsubprocess.PIPE, )# Communicate with the processstdout, _ process.communicate(inputb0\n1\n)# Put the result into the queuequeue.put(stdout.decode(utf-8))def main():while True:# Create a queue for communication between processesqueue multiprocessing.Queue()# Start the processprocess multiprocessing.Process(targetrun_iat_online_record_sample, args(queue,))process.start()# Wait for the process to finish and get the result from the queueprocess.join()result queue.get()# Print the resultprint(Result:, result)# Save the result to a text file, clearing the file firstwith open(result.txt, w) as f:f.write(result)# Ask user whether to continue recognitioncontinue_recognition input(是否继续识别 (0: 结束, 1: 继续): )if continue_recognition 0:breakif __name__ __main__:main()这个文件运行后会在当前目录生成一个result.txt文件如下图这个文件的内容每次识别之后都会更新键盘节点就是通过获取这个文件的数据来通过语音控制机器人移动的 4.修改teleop_twist_keyboard.py文件
在键盘控制的代码前添加读取文件数据的代码 这里将刚刚识别到的语音过滤后存储在voice_command[0]中以供后续使用下面会通过判断voice_command[0]中的值来进行不同的操作 import sys
import threading
import time
import os
from std_msgs.msg import String
import geometry_msgs.msg
import rclpyif sys.platform win32:import msvcrt
else:import termiosimport ttymsg
This node takes keypresses from the keyboard and publishes them
as Twist/TwistStamped messages. It works best with a US keyboard layout.
---------------------------
Moving around:u i oj k lm , .For Holonomic mode (strafing), hold down the shift key:
---------------------------U I OJ K LM t : up (z)
b : down (-z)anything else : stopq/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%CTRL-C to quit
moveBindings {i: (1, 0, 0, 0),o: (1, 0, 0, -1),j: (0, 0, 0, 1),l: (0, 0, 0, -1),u: (1, 0, 0, 1),,: (-1, 0, 0, 0),.: (-1, 0, 0, 1),m: (-1, 0, 0, -1),O: (1, -1, 0, 0),I: (1, 0, 0, 0),J: (0, 1, 0, 0),L: (0, -1, 0, 0),U: (1, 1, 0, 0),: (-1, 0, 0, 0),: (-1, -1, 0, 0),M: (-1, 1, 0, 0),t: (0, 0, 1, 0),b: (0, 0, -1, 0),
}speedBindings {q: (1.1, 1.1),z: (.9, .9),w: (1.1, 1),x: (.9, 1),e: (1, 1.1),c: (1, .9),
}def getKey(settings):if sys.platform win32:# getwch() returns a string on Windowskey msvcrt.getwch()else:tty.setraw(sys.stdin.fileno())# sys.stdin.read() returns a string on Linuxkey sys.stdin.read(1)termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)return keydef saveTerminalSettings():if sys.platform win32:return Nonereturn termios.tcgetattr(sys.stdin)def restoreTerminalSettings(old_settings):if sys.platform win32:returntermios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)def vels(speed, turn):return currently:\tspeed %s\tturn %s % (speed, turn)def main():settings saveTerminalSettings()rclpy.init()node rclpy.create_node(teleop_twist_keyboard)# parametersstamped node.declare_parameter(stamped, False).valueframe_id node.declare_parameter(frame_id, ).valueif not stamped and frame_id:raise Exception(frame_id can only be set when stamped is True)if stamped:TwistMsg geometry_msgs.msg.TwistStampedelse:TwistMsg geometry_msgs.msg.Twistpub node.create_publisher(TwistMsg, cmd_vel, 10)voice_command [None] # Initializing as a listspinner threading.Thread(targetrclpy.spin, args(node,))spinner.start()speed 0.5turn 1.0x 0.0y 0.0z 0.0th 0.0status 0.0twist_msg TwistMsg()if stamped:twist twist_msg.twisttwist_msg.header.stamp node.get_clock().now().to_msg()twist_msg.header.frame_id frame_idelse:twist twist_msgtry:print(msg)print(vels(speed, turn))while True:print(当前工作路径:, os.getcwd())with open(./voice_ros2/result.txt, r) as f:# with open(/home/lsg/xufen3_ws/voice_ros2/result.txt, r) as f:for line in f:if line.startswith(Result: [):start line.find([)end line.find(])if start ! -1 and end ! -1:voice_command[0] line[start 1:end].strip()print(voice_command, voice_command[0])# Clearing the content of result.txtopen(./voice_ros2/result.txt, w).close()# open(/home/lsg/xufen3_ws/voice_ros2/result.txt, w).close()breakkey getKey(settings)# print(键盘控制按键输出, key)if key in moveBindings.keys():x moveBindings[key][0]y moveBindings[key][1]z moveBindings[key][2]th moveBindings[key][3]elif key in speedBindings.keys():speed speed * speedBindings[key][0]turn turn * speedBindings[key][1]print(vels(speed, turn))if (status 14):print(msg)status (status 1) % 15elif voice_command[0] is not None:if voice_command[0] 小车后退:print(语音控制小车前进, voice_command[0])x moveBindings[i][0]y moveBindings[i][1]z moveBindings[i][2]th moveBindings[i][3]elif voice_command[0] 小车前进:print(语音控制小车后退, voice_command[0])x moveBindings[,][0]y moveBindings[,][1]z moveBindings[,][2]th moveBindings[,][3]elif voice_command[0] 小车左转:print(语音控制小车左转, voice_command[0])x moveBindings[j][0]y moveBindings[j][1]z moveBindings[j][2]th moveBindings[j][3]elif voice_command[0] 小车右转:print(语音控制小车右转, voice_command[0])x moveBindings[l][0]y moveBindings[l][1]z moveBindings[l][2]th moveBindings[l][3]elif voice_command[0] 小车停:print(语音控制小车停, voice_command[0])x moveBindings[k][0]y moveBindings[k][1]z moveBindings[k][2]th moveBindings[k][3]voice_command[0] Noneelse:x 0.0y 0.0z 0.0th 0.0if (key \x03):breakif stamped:twist_msg.header.stamp node.get_clock().now().to_msg()twist.linear.x x * speedtwist.linear.y y * speedtwist.linear.z z * speedtwist.angular.x 0.0twist.angular.y 0.0twist.angular.z th * turnpub.publish(twist_msg)# Print timestamp every secondtime.sleep(1)print(时间戳, time.time())except Exception as e:print(e)finally:if stamped:twist_msg.header.stamp node.get_clock().now().to_msg()twist.linear.x 0.0twist.linear.y 0.0twist.linear.z 0.0twist.angular.x 0.0twist.angular.y 0.0twist.angular.z 0.0pub.publish(twist_msg)rclpy.shutdown()spinner.join()restoreTerminalSettings(settings)if __name__ __main__:main()
5. 编译运行 // xufen3_ws工作空间下
// 终端1
colcon build. install/setup.bashros2 launch ros2_stm32_bridge driver.launch.py// 终端2
. install/setup.bashros2 run teleop_twist_keyboard teleop_twist_keyboard// 终端3 ~/xufen3_ws/voice_ros2$ 目录下 python3 voice.py
然后就可以通过语音控制小车 在右侧终端按1进行语音识别此时将识别到小车前进的命令并打印在左侧终端按回车健获取result中的命令将输出voice_command 小车前进此时再按键ctrlc将输出语音控制小车前进 小车前进并且小车开始移动。 目前的代码需要按键才能加载进来语音的命令并控制小车移动但好在实现了功能后续还会继续优化。 终端3中输入数字1 然后 语音输入指令 “小车前进” 或“ 小车后退” 或 “小车左转” 或“”小车右转”
等到终端3中打印了语音指令后鼠标移动到终端2按下回车键即可小车移动。 需要按键控制感觉发出语音指令后要等好几秒才能移动小车还需要按键不过还是初步实现了语音控制后期优化实现更实用的语音控制
