ROS学习笔记-使用C++类用以编程（以机器人语音交互为例）
voice_control_class.h 头文件：
使用到的文本合成等函数以及相关数据结构，以及定义一个类，定义了类的成员变量和方法
#ifndef EXAMPLE_ROS_CLASS_H_
#define EXAMPLE_ROS_CLASS_H_
#include voice_control_class.c 类的实现：
包含了上述头文件，在构造函数中封装必要的初始化代码，以及编写成员函数，专注于实现语音控制相关的ＲＯＳ控制
#include "voice_control_class.h"
voice_control_class::voice_control_class(ros::NodeHandle* nodehandle):nh_(*nodehandle)
{
ROS_INFO("in class constructor of voice_control_class");
initializeSubscribers();
initializePublishers();
initializeServices();
// val_to_remember_=0.0;
}
void voice_control_class::initializeSubscribers()
{
ROS_INFO("Initializing Subscribers");
minimal_subscriber_ = nh_.subscribe("voiceWords", 1000, &voice_control_class::subscriberCallback,this);
}
void voice_control_class::initializeServices()
{
ROS_INFO("Initializing Services");
}
void voice_control_class::initializePublishers()
{
ROS_INFO("Initializing Publishers");
minimal_publisher_ = nh_.advertise<geometry_msgs::Twist>("/cmd_vel", 1, true);
}
void voice_control_class::subscriberCallback(const std_msgs::String::ConstPtr& msg) {
char cmd[2000];
const char* text;
int ret = MSP_SUCCESS;
const char* session_begin_params = "voice_name = xiaoyan, text_encoding = utf8, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 2";
const char* filename = "tts_sample.wav"; //合成的语音文件名称
std::cout<<"I heard :"<<msg->data.c_str()<<std::endl;
geometry_msgs::Twist output_msg;
output_msg.linear.x=0;
output_msg.linear.y=0;
output_msg.linear.z=0;
output_msg.angular.x=0;
output_msg.angular.y=0;
output_msg.angular.z=0;
double speed = 0.0; // 0m/s speed command
double yaw_rate = 0.0; //0.0 rad/sec yaw rate command
std::string dataString = msg->data;
if(dataString.find("你是谁") != std::string::npos
|| dataString.find("名字") != std::string::npos)
{
char nameString[100] = "我是mobot机器人";
text = nameString;
std::cout<<text<<std::endl;
}
else if(dataString.find("前") != std::string::npos )
{
char eageString[100] = "前进";
text = eageString;
std::cout<<text<<std::endl;
speed = 1.0;
yaw_rate = 0.0;
}
else if(dataString.find("后") != std::string::npos )
{
char eageString[100] = "后退";
text = eageString;
std::cout<<text<<std::endl;
speed = -1.0;
yaw_rate = 0.0;
}
else if(dataString.find("左") != std::string::npos )
{
char eageString[100] = "向左";
text = eageString;
std::cout<<text<<std::endl;
speed = 1.0;
yaw_rate = 0.33;
}
else if(dataString.find("右") != std::string::npos )
{
char eageString[100] = "向右";
text = eageString;
std::cout<<text<<std::endl;
speed = 1.0;
yaw_rate = -0.5;
}
else if(dataString.find("停") != std::string::npos )
{
char eageString[100] = "停止";
text = eageString;
std::cout<<text<<std::endl;
speed = 0.0;
yaw_rate = 0.0;
}
else if(dataString.find("时间") != std::string::npos)
{
//获取当前时间
struct tm *ptm;
long ts;
ts = time(NULL);
ptm = localtime(&ts);
std::string string = "现在时间" + to_string(ptm-> tm_hour) + "点" + to_string(ptm-> tm_min) + "分";
char timeString[40] = {0};
string.copy(timeString, sizeof(string), 0);
text = timeString;
std::cout<<text<<std::endl;
}
else
{
text = msg->data.c_str();
}
/* 文本合成 */
printf("开始合成 ...\n");
ret = text_to_speech(text, filename, session_begin_params);
if (MSP_SUCCESS != ret)
{
printf("text_to_speech failed, error code: %d.\n", ret);
}
printf("合成完毕\n");
popen("play tts_sample.wav","r");
output_msg.linear.x=speed;
output_msg.angular.z=yaw_rate;
int i=10;
while(i--)
{
minimal_publisher_.publish(output_msg);
usleep(5000); //防止频繁占用CPU
}
}
bool voice_control_class::serviceCallback(std_srvs::TriggerRequest& request, std_srvs::TriggerResponse& response) {
ROS_INFO("service callback activated");
response.success = true; // boring, but valid response info
response.message = "here is a response string";
return true;
}
int main(int argc, char* argv[])
{
int ret = MSP_SUCCESS;
const char* login_params = "appid = 594a7b46, work_dir = .";
ret = MSPLogin(NULL, NULL, login_params);
if (MSP_SUCCESS != ret)
{
printf("MSPLogin failed, error code: %d.\n", ret);
toExit();
}
printf("\n###########################################################################\n");
printf("## 语音合成（Text To Speech，TTS）技术能够自动将任意文字实时转换为连续的 ##\n");
printf("## 自然语音，是一种能够在任何时间、任何地点，向任何人提供语音信息服务的 ##\n");
printf("## 高效便捷手段，非常符合信息时代海量数据、动态更新和个性化查询的需求。 ##\n");
printf("###########################################################################\n\n");
ros::init(argc, argv, "voiceControl"); //node name
ros::NodeHandle nh;
ROS_INFO("main: instantiating an object of type voiceControl");
voice_control_class voice_control_class(&nh);
ROS_INFO("main: going into spin; let the callbacks do all the work");
ros::spin();
exit:
printf("按任意键退出 ...\n");
getchar();
MSPLogout(); //退出登录
return 0;
}
后记：
关于使用C++类用于ROS通信的编程方式带来的好处就不细讲了，具体可参照官方wiki:
http://wiki.ros.org/roscpp/Overview/Publishers and Subscribers