ROS机器人项目开发11例-ROS Robotics Projects（2）语音部分
【摘要】 ROS Robotics Projects（2）语音部分
第三章主要是语音部分，和ROS by examples类似；
这里还是要注意路径问题，还有.py和.launch文件的权限问题；
不需要用sudo，直接用下面语句加权限即可：
chmod +x *.py
chmod +x *.launch
路径配置参考：
<launch> ...
ROS Robotics Projects（2）语音部分
第三章主要是语音部分，和ROS by examples类似；
这里还是要注意路径问题，还有.py和.launch文件的权限问题；
不需要用sudo，直接用下面语句加权限即可：
chmod +x *.py
chmod +x *.launch
路径配置参考：
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<launch>
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<param name="aiml_path" value="/home/relaybot/books_ws/src/ROS_Robotics_Projects_master/Chapter03/codes/ros_aiml/data" />
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<node name="aiml_server" pkg="ros_aiml" type="aiml_server.py" output="screen">
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</node>
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<include file="$(find sound_play)/soundplay_node.launch"></include>
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<node name="aiml_tts" pkg="ros_aiml" type="aiml_tts_client.py" output="screen">
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</node>
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<node name="aiml_client" pkg="ros_aiml" type="aiml_client.py" output="screen">
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</node>
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</launch>
----
命令运行结果：
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relaybot@exbot-ThinkPad-T420s:~/books_ws$ roslaunch ros_aiml start_tts_chat.launch
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... logging to /home/relaybot/.ros/log/31b69cf6-174d-11e7-85a6-0811968dc4b0/roslaunch-exbot-ThinkPad-T420s-22991.log
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Checking log directory for disk usage. This may take awhile.
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Press Ctrl-C to interrupt
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Done checking log file disk usage. Usage is <1GB.
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started roslaunch server http://exbot-ThinkPad-T420s:41234/
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SUMMARY
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========
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PARAMETERS
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* /aiml_path: /home/relaybot/bo...
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* /rosdistro: indigo
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* /rosversion: 1.11.21
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NODES
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/
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aiml_client (ros_aiml/aiml_client.py)
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aiml_server (ros_aiml/aiml_server.py)
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aiml_tts (ros_aiml/aiml_tts_client.py)
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soundplay_node (sound_play/soundplay_node.py)
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auto-starting new master
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process[master]: started with pid [23003]
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ROS_MASTER_URI=http://localhost:11311
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setting /run_id to 31b69cf6-174d-11e7-85a6-0811968dc4b0
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process[rosout-1]: started with pid [23016]
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started core service [/rosout]
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process[aiml_server-2]: started with pid [23023]
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process[soundplay_node-3]: started with pid [23027]
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process[aiml_tts-4]: started with pid [23034]
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process[aiml_client-5]: started with pid [23036]
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(gst-plugin-scanner:23045): GStreamer-WARNING **: Failed to load plugin '/usr/lib/x86_64-linux-gnu/gstreamer-1.0/libgsteglglessink.so': /usr/lib/x86_64-linux-gnu/libgstegl-1.0.so.0: undefined symbol: eglDestroyImageKHR
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/home/relaybot/books_ws/src/ROS_Robotics_Projects_master/Chapter03/codes/ros_aiml/data
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Enter your text :> Starting TTS
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[INFO] [WallTime: 1491100599.275978] Starting listening to response
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Loading brain from standard.brn... done (98290 categories in 1.79 seconds)
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Kernel bootstrap completed in 1.79 seconds
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[INFO] [WallTime: 1491100600.147541] Starting ROS AIML Server
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hi
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Enter your text :> [INFO] [WallTime: 1491100605.857921] I heard:: hi
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[INFO] [WallTime: 1491100605.858716] I spoke:: Hi there!
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[INFO] [WallTime: 1491100605.859830] Response ::Hi there!
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ji
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Enter your text :> [INFO] [WallTime: 1491100611.535482] I heard:: ji
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[INFO] [WallTime: 1491100611.536626] I spoke:: Where are you located?
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[INFO] [WallTime: 1491100611.538437] Response ::Where are you located?
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-
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Enter your text :> [INFO] [WallTime: 1491100615.331469] I heard::
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[INFO] [WallTime: 1491100615.332579] I spoke::
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[INFO] [WallTime: 1491100615.334038] Response ::
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-
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Enter your text :> [INFO] [WallTime: 1491100620.908207] I heard::
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[INFO] [WallTime: 1491100620.909390] I spoke::
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[INFO] [WallTime: 1491100620.910688] Response ::
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what is your name
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Enter your text :> [INFO] [WallTime: 1491100628.790155] I heard:: what is your name
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[INFO] [WallTime: 1491100628.791255] I spoke:: My name is Nameless.
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[INFO] [WallTime: 1491100628.792728] Response ::My name is Nameless.
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Do you love ros
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Enter your text :> [INFO] [WallTime: 1491100640.447431] I heard:: Do you love ros
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[INFO] [WallTime: 1491100640.448486] I spoke:: Yes Nameless loves everyone and everything.
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[INFO] [WallTime: 1491100640.449860] Response ::Yes Nameless loves everyone and everything
文件组织如下，所需文件也配置完成：
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relaybot@exbot-ThinkPad-T420s:~/books_ws/src/ROS_Robotics_Projects_master/Chapter03/codes$ tree
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.
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├── audio_common
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│ ├── audio_capture
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│ │ ├── CHANGELOG.rst
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│ │ ├── CMakeLists.txt
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│ │ ├── launch
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│ │ │ ├── capture.launch
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│ │ │ ├── capture_to_file.launch
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│ │ │ └── capture_wave.launch
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│ │ ├── mainpage.dox
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│ │ ├── package.xml
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│ │ └── src
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│ │ └── audio_capture.cpp
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│ ├── audio_common
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│ │ ├── CHANGELOG.rst
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│ │ ├── CMakeLists.txt
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│ │ └── package.xml
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│ ├── audio_common_msgs
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│ │ ├── CHANGELOG.rst
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│ │ ├── CMakeLists.txt
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│ │ ├── mainpage.dox
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│ │ ├── msg
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│ │ │ └── AudioData.msg
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│ │ └── package.xml
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│ ├── audio_play
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│ │ ├── CHANGELOG.rst
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│ │ ├── CMakeLists.txt
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│ │ ├── launch
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│ │ │ └── play.launch
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│ │ ├── mainpage.dox
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│ │ ├── package.xml
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│ │ └── src
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│ │ └── audio_play.cpp
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│ └── sound_play
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│ ├── action
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│ │ └── SoundRequest.action
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│ ├── CHANGELOG.rst
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│ ├── CMakeLists.txt
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│ ├── include
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│ │ └── sound_play
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│ │ └── sound_play.h
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│ ├── mainpage.dox
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│ ├── msg
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│ │ └── SoundRequest.msg
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│ ├── package.xml
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│ ├── README
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│ ├── scripts
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│ │ ├── playbuiltin.py
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│ │ ├── playpackage.py
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│ │ ├── play.py
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│ │ ├── say.py
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│ │ ├── shutup.py
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│ │ ├── soundclient_example.py
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│ │ ├── soundplay_node.py
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│ │ ├── test
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│ │ │ └── test_sound_client.py
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│ │ ├── test_actionlib_client.py
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│ │ └── test.py
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│ ├── setup.py
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│ ├── soundplay_node.launch
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│ ├── sounds
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│ │ ├── BACKINGUP.ogg
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│ │ ├── NEEDS_PLUGGING_BADLY.ogg
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│ │ ├── NEEDS_PLUGGING.ogg
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│ │ ├── NEEDS_UNPLUGGING_BADLY.ogg
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│ │ ├── NEEDS_UNPLUGGING.ogg
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│ │ └── say-beep.wav
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│ ├── src
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│ │ └── sound_play
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│ │ ├── __init__.py
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│ │ ├── libsoundplay.py
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│ │ └── libsoundplay.pyc
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│ ├── test
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│ │ ├── CMakeLists.txt
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│ │ └── test.cpp
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│ └── test.launch
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└── ros_aiml
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├── CMakeLists.txt
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├── data
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│ ├── ai.aiml
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│ ├── alice.aiml
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│ ├── astrology.aiml
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│ ├── atomic.aiml
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│ ├── badanswer.aiml
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│ ├── biography.aiml
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│ ├── bot.aiml
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│ ├── bot_profile.aiml
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│ ├── client.aiml
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│ ├── client_profile.aiml
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│ ├── computers.aiml
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│ ├── continuation.aiml
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│ ├── date.aiml
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│ ├── default.aiml
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│ ├── drugs.aiml
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│ ├── emotion.aiml
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│ ├── food.aiml
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│ ├── geography.aiml
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│ ├── gossip.aiml
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│ ├── history.aiml
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│ ├── humor.aiml
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│ ├── imponderables.aiml
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│ ├── inquiry.aiml
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│ ├── interjection.aiml
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│ ├── iu.aiml
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│ ├── junktest.text
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│ ├── knowledge.aiml
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│ ├── literature.aiml
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│ ├── loebner10.aiml
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│ ├── money.aiml
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│ ├── movies.aiml
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│ ├── mp0.aiml
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│ ├── mp1.aiml
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│ ├── mp2.aiml
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│ ├── mp3.aiml
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│ ├── mp4.aiml
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│ ├── mp5.aiml
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│ ├── mp6.aiml
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│ ├── music.aiml
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│ ├── numbers.aiml
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│ ├── personality.aiml
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│ ├── phone.aiml
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│ ├── pickup.aiml
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│ ├── politics.aiml
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│ ├── primeminister.aiml
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│ ├── primitive-math.aiml
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│ ├── psychology.aiml
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│ ├── pyschology.aiml
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│ ├── reduction0.safe.aiml
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│ ├── reduction1.safe.aiml
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│ ├── reduction2.safe.aiml
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│ ├── reduction3.safe.aiml
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│ ├── reduction4.safe.aiml
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│ ├── reduction.names.aiml
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│ ├── reductions-update.aiml
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│ ├── religion.aiml
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│ ├── salutations.aiml
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│ ├── science.aiml
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│ ├── sex.aiml
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│ ├── sports.aiml
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│ ├── stack.aiml
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│ ├── standard.brn
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│ ├── startup.xml
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│ ├── stories.aiml
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│ ├── that.aiml
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│ ├── update1.aiml
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│ ├── update_mccormick.aiml
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│ ├── wallace.aiml
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│ └── xfind.aiml
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├── launch
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│ ├── start_chat.launch
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│ ├── start_chat.launch~
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│ ├── start_speech_chat.launch
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│ ├── start_speech_chat.launch~
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│ ├── start_tts_chat.launch
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│ └── start_tts_chat.launch~
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├── package.xml
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└── scripts
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├── aiml_client.py
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├── aiml_server.py
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├── aiml_speech_recog_client.py
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└── aiml_tts_client.py
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25 directories, 135 files
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文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/68951068
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