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  • ROS中阶笔记(六):机器人感知—机器语音

    ROS中阶笔记(六):机器人感知—机器语音

    1 语音识别理论

    2 常用语音功能包

    • pocketsphinx:集成CMU Sphinx和Festival开源项目中的代码,实现语音识别的功能
    • audio-common:提供了文本转语音的功能实现完成"机器人说话"的想法
    • AIML:人工智能标记语音,Artificial Intelligence Markup Language是一种创建自然语音软件代理的XML语言

    3 科大讯飞SDK

    登录科大讯飞开放平台的官方网站:http://www.xfyun.cn/,注册一个账户并下载SDK

    下载的SDK文件(Linux_lat···文件)——解压——示例在samples文件夹下面(比如iat_record_sample,刚下载完成功能包之后,需要咋当前目录下面编译,通过make编译)

    编译之后的文件放在bin文件夹下面的,可以看到有一个生成的可执行文件iat_record_sample;

    3.1 使用前提

    将科大讯飞SDK的库文件拷贝到系统目录下

    $ sudo cp libmsc.so/usr/lib/libmsc.so         # (注意选择相应的处理器架构)
    
    
    # SDK的库文件在libs中有(x86和x64,在这里面放置的库文件)
    

    科大讯飞的SDK带有ID号,每个人每次下载后的ID都不相同,更换SDK之后需要修改代码中的APPID,你也可以直接使用本课程的libmsc.so文件,否则需要将源码中的APPID修改为自己下载SDK中的ID。

    3.2 语音听写

    iat_publish.cpp

    /*
    * 语音听写(iFly Auto Transform)技术能够实时地将语音转换成对应的文字。
    */
    
    #include <stdlib.h>
    #include <stdio.h>
    #include <string.h>
    #include <unistd.h>
    #include "robot_voice/qisr.h"
    #include "robot_voice/msp_cmn.h"
    #include "robot_voice/msp_errors.h"
    #include "robot_voice/speech_recognizer.h"
    #include <iconv.h>
    
    #include "ros/ros.h"
    #include "std_msgs/String.h"
    
    #define FRAME_LEN   640 
    #define BUFFER_SIZE 4096
    
    int wakeupFlag   = 0 ;
    int resultFlag   = 0 ;
    
    static void show_result(char *string, char is_over)
    {
        resultFlag=1;   
        printf("
    Result: [ %s ]", string);
        if(is_over)
            putchar('
    ');
    }
    
    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
    ");
                    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...
    ");
    }
    void on_speech_end(int reason)
    {
        if (reason == END_REASON_VAD_DETECT)
            printf("
    Speaking done 
    ");
        else
            printf("
    Recognizer error %d
    ", 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
    ");
            return;
        }
        errcode = sr_start_listening(&iat);
        if (errcode) {
            printf("start listen failed %d
    ", errcode);
        }
        /* demo 10 seconds recording */
        while(i++ < 10)
            sleep(1);
        errcode = sr_stop_listening(&iat);
        if (errcode) {
            printf("stop listening failed %d
    ", 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
    ");
        usleep(700*1000);
        wakeupFlag=1;
    }
    
    int main(int argc, char* argv[])
    {
        // 初始化ROS
        ros::init(argc, argv, "voiceRecognition");
        ros::NodeHandle n;
        ros::Rate loop_rate(10);
    
        // 声明Publisher和Subscriber
        // 订阅唤醒语音识别的信号
        ros::Subscriber wakeUpSub = n.subscribe("voiceWakeup", 1000, WakeUp);   
        // 订阅唤醒语音识别的信号    
        ros::Publisher voiceWordsPub = n.advertise<std_msgs::String>("voiceWords", 1000);  
    
        ROS_INFO("Sleeping...");
        int count=0;
        while(ros::ok())
        {
            // 语音识别唤醒
            if (wakeupFlag){
                ROS_INFO("Wakeup...");
                int ret = MSP_SUCCESS;
                const char* login_params = "appid = 594a7b46, 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.
    ",ret);
                }
    
                printf("Demo recognizing the speech from microphone
    ");
                printf("Speak in 10 seconds
    ");
    
                demo_mic(session_begin_params);
    
                printf("10 sec passed
    ");
            
                wakeupFlag=0;
                MSPLogout();
            }
    
            // 语音识别完成
            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;
    }
    

    subscriber(订阅者):用来接收语音唤醒信号,接收到唤醒信号之后,会将wakeupFlag变量置位;

    主循环中调用SDK的语音听写功能,识别成功后置位resultFlag变量,通过Publisher将识别出来的字符串发布。

    第一步,在CMakeLists.txt中加入编译规则

    add_executable(iat_publish 
      src/iat_publish.cpp 
      src/speech_recognizer.c 
      src/linuxrec.c)
    target_link_libraries(
       iat_publish
       ${catkin_LIBRARIES} 
       libmsc.so -ldl -lpthread -lm -lrt -lasound
     )
    

    编译过程需要链接SDK中的libmsc.so库,此前已经将此库拷贝到系统路径下,所以此处不需要添加完整路径。

    第二步,语音听写示例

    $ roscore
    $ rosrun robot_voice iat_publish
    $ rostopic pub /voiceWakeup std_msgs/String "data:'any string'"
    
    'any string'     ''里面可以随便填
    

    3.3 语音合成

    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。

    tts_subscribe.cpp

    /*
    * 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
    * 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
    * 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。
    */
    
    #include <stdio.h>
    #include <string.h>
    #include <stdlib.h>
    #include <unistd.h>
    #include <errno.h>
    
    
    #include "robot_voice/qtts.h"
    #include "robot_voice/msp_cmn.h"
    #include "robot_voice/msp_errors.h"
    
    #include "ros/ros.h"
    #include "std_msgs/String.h"
    
    #include <sstream>
    #include <sys/types.h>
    #include <sys/stat.h>
    
    
    /* wav音频头部格式 */
    typedef struct _wave_pcm_hdr
    {
        char            riff[4];                // = "RIFF"
        int     size_8;                 // = FileSize - 8
        char            wave[4];                // = "WAVE"
        char            fmt[4];                 // = "fmt "
        int     fmt_size;       // = 下一个结构体的大小 : 16
    
        short int       format_tag;             // = PCM : 1
        short int       channels;               // = 通道数 : 1
        int     samples_per_sec;        // = 采样率 : 8000 | 6000 | 11025 | 16000
        int     avg_bytes_per_sec;      // = 每秒字节数 : samples_per_sec * bits_per_sample / 8
        short int       block_align;            // = 每采样点字节数 : wBitsPerSample / 8
        short int       bits_per_sample;        // = 量化比特数: 8 | 16
    
        char            data[4];                // = "data";
        int     data_size;              // = 纯数据长度 : FileSize - 44 
    } wave_pcm_hdr;
    
    /* 默认wav音频头部数据 */
    wave_pcm_hdr default_wav_hdr = 
    {
        { 'R', 'I', 'F', 'F' },
        0,
        {'W', 'A', 'V', 'E'},
        {'f', 'm', 't', ' '},
        16,
        1,
        1,
        16000,
        32000,
        2,
        16,
        {'d', 'a', 't', 'a'},
        0  
    };
    /* 文本合成 */
    int text_to_speech(const char* src_text, const char* des_path, const char* params)
    {
        int          ret          = -1;
        FILE*        fp           = NULL;
        const char*  sessionID    = NULL;
        unsigned int audio_len    = 0;
        wave_pcm_hdr wav_hdr      = default_wav_hdr;
        int          synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA;
    
        if (NULL == src_text || NULL == des_path)
        {
            printf("params is error!
    ");
            return ret;
        }
        fp = fopen(des_path, "wb");
        if (NULL == fp)
        {
            printf("open %s error.
    ", des_path);
            return ret;
        }
        /* 开始合成 */
        sessionID = QTTSSessionBegin(params, &ret);
        if (MSP_SUCCESS != ret)
        {
            printf("QTTSSessionBegin failed, error code: %d.
    ", ret);
            fclose(fp);
            return ret;
        }
        ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);
        if (MSP_SUCCESS != ret)
        {
            printf("QTTSTextPut failed, error code: %d.
    ",ret);
            QTTSSessionEnd(sessionID, "TextPutError");
            fclose(fp);
            return ret;
        }
        printf("正在合成 ...
    ");
        fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头,使用采样率为16000
        while (1) 
        {
            /* 获取合成音频 */
            const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret);
            if (MSP_SUCCESS != ret)
                break;
            if (NULL != data)
            {
                fwrite(data, audio_len, 1, fp);
                wav_hdr.data_size += audio_len; //计算data_size大小
            }
            if (MSP_TTS_FLAG_DATA_END == synth_status)
                break;
            printf(">");
            usleep(150*1000); //防止频繁占用CPU
        }//合成状态synth_status取值请参阅《讯飞语音云API文档》
        printf("
    ");
        if (MSP_SUCCESS != ret)
        {
            printf("QTTSAudioGet failed, error code: %d.
    ",ret);
            QTTSSessionEnd(sessionID, "AudioGetError");
            fclose(fp);
            return ret;
        }
        /* 修正wav文件头数据的大小 */
        wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8);
        
        /* 将修正过的数据写回文件头部,音频文件为wav格式 */
        fseek(fp, 4, 0);
        fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值
        fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置
        fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值
        fclose(fp);
        fp = NULL;
        /* 合成完毕 */
        ret = QTTSSessionEnd(sessionID, "Normal");
        if (MSP_SUCCESS != ret)
        {
            printf("QTTSSessionEnd failed, error code: %d.
    ",ret);
        }
    
        return ret;
    }
    
    void voiceWordsCallback(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;
        text = msg->data.c_str(); 
    
        /* 文本合成 */
        printf("开始合成 ...
    ");
        ret = text_to_speech(text, filename, session_begin_params);
        if (MSP_SUCCESS != ret)
        {
            printf("text_to_speech failed, error code: %d.
    ", ret);
        }
        printf("合成完毕
    ");
    
    
        unlink("/tmp/cmd");  
        mkfifo("/tmp/cmd", 0777);  
        popen("mplayer -quiet -slave -input file=/tmp/cmd 'tts_sample.wav'","r");
        sleep(3);
    }
    
    void toExit()
    {
        printf("按任意键退出 ...
    ");
        getchar();
        MSPLogout(); //退出登录
    }
    
    int main(int argc, char* argv[])
    {
        int         ret                  = MSP_SUCCESS;
        const char* login_params         = "appid = 594a7b46, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动
        /*
        * rdn:           合成音频数字发音方式
        * volume:        合成音频的音量
        * pitch:         合成音频的音调
        * speed:         合成音频对应的语速
        * voice_name:    合成发音人
        * sample_rate:   合成音频采样率
        * text_encoding: 合成文本编码格式
        *
        * 详细参数说明请参阅《讯飞语音云MSC--API文档》
        */
    
        /* 用户登录 */
        ret = MSPLogin(NULL, NULL, login_params);//第一个参数是用户名,第二个参数是密码,第三个参数是登录参数,用户名和密码可在http://open.voicecloud.cn注册获取
        if (MSP_SUCCESS != ret)
        {
            printf("MSPLogin failed, error code: %d.
    ", ret);
            /*goto exit ;*///登录失败,退出登录
            toExit();
        }
        printf("
    ###########################################################################
    ");
        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 ##
    ");
        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  ##
    ");
        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。  ##
    ");
        printf("###########################################################################
    
    ");
    
    
        ros::init(argc,argv,"TextToSpeech");
        ros::NodeHandle n;
        ros::Subscriber sub =n.subscribe("voiceWords", 1000,voiceWordsCallback);
        ros::spin();
    
    exit:
        printf("按任意键退出 ...
    ");
        getchar();
        MSPLogout(); //退出登录
    
        return 0;
    }
    
    • main函数中声明了一个订阅voiceWords话题的subscriber,接收输入的语音字符串。
    • 回调函数voiceWordsCallback中使用SDK接口将字符串转换成中文语音。

    第一步,在CMakeLists.txt中加入编译规则

    add_executable(tts_subscribe src/tts_subscribe.cpp)
    target_link_libraries(
       tts_subscribe
       ${catkin_LIBRARIES} 
       libmsc.so -ldl -pthread
     )
    

    第二步,语音合成示例

    $ roscore
    $ rosrun robot_voice tts_subscribe
    $ rostopic pub/voiceWords std_msgs/String"data:'你好,我是机器人'"
    

    语音合成启动后可能产生的错误

    原因:mplayer配置导致
    解决方法:在$HOME/.mplayer/config文件中添加如下设置:lirc=no

    3.4 智能语音助手

    voice_assistant.cpp

    #include <iostream>
    #include <stdio.h>
    #include <string.h>
    #include <stdlib.h>
    #include <unistd.h>
    #include <errno.h>
    #include <time.h>   
    
    #include "robot_voice/qtts.h"
    #include "robot_voice/msp_cmn.h"
    #include "robot_voice/msp_errors.h"
    
    #include "ros/ros.h"
    #include "std_msgs/String.h"
    
    #include <sstream>
    #include <sys/types.h>
    #include <sys/stat.h>
    
    
    /* wav音频头部格式 */
    typedef struct _wave_pcm_hdr
    {
    	char            riff[4];                // = "RIFF"
    	int		size_8;                 // = FileSize - 8
    	char            wave[4];                // = "WAVE"
    	char            fmt[4];                 // = "fmt "
    	int		fmt_size;		// = 下一个结构体的大小 : 16
    
    	short int       format_tag;             // = PCM : 1
    	short int       channels;               // = 通道数 : 1
    	int		samples_per_sec;        // = 采样率 : 8000 | 6000 | 11025 | 16000
    	int		avg_bytes_per_sec;      // = 每秒字节数 : samples_per_sec * bits_per_sample / 8
    	short int       block_align;            // = 每采样点字节数 : wBitsPerSample / 8
    	short int       bits_per_sample;        // = 量化比特数: 8 | 16
    
    	char            data[4];                // = "data";
    	int		data_size;              // = 纯数据长度 : FileSize - 44 
    } wave_pcm_hdr;
    
    /* 默认wav音频头部数据 */
    wave_pcm_hdr default_wav_hdr = 
    {
    	{ 'R', 'I', 'F', 'F' },
    	0,
    	{'W', 'A', 'V', 'E'},
    	{'f', 'm', 't', ' '},
    	16,
    	1,
    	1,
    	16000,
    	32000,
    	2,
    	16,
    	{'d', 'a', 't', 'a'},
    	0  
    };
    /* 文本合成 */
    int text_to_speech(const char* src_text, const char* des_path, const char* params)
    {
    	int          ret          = -1;
    	FILE*        fp           = NULL;
    	const char*  sessionID    = NULL;
    	unsigned int audio_len    = 0;
    	wave_pcm_hdr wav_hdr      = default_wav_hdr;
    	int          synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA;
    
    	if (NULL == src_text || NULL == des_path)
    	{
    		printf("params is error!
    ");
    		return ret;
    	}
    	fp = fopen(des_path, "wb");
    	if (NULL == fp)
    	{
    		printf("open %s error.
    ", des_path);
    		return ret;
    	}
    	/* 开始合成 */
    	sessionID = QTTSSessionBegin(params, &ret);
    	if (MSP_SUCCESS != ret)
    	{
    		printf("QTTSSessionBegin failed, error code: %d.
    ", ret);
    		fclose(fp);
    		return ret;
    	}
    	ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);
    	if (MSP_SUCCESS != ret)
    	{
    		printf("QTTSTextPut failed, error code: %d.
    ",ret);
    		QTTSSessionEnd(sessionID, "TextPutError");
    		fclose(fp);
    		return ret;
    	}
    	printf("正在合成 ...
    ");
    	fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头,使用采样率为16000
    	while (1) 
    	{
    		/* 获取合成音频 */
    		const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret);
    		if (MSP_SUCCESS != ret)
    			break;
    		if (NULL != data)
    		{
    			fwrite(data, audio_len, 1, fp);
    		    wav_hdr.data_size += audio_len; //计算data_size大小
    		}
    		if (MSP_TTS_FLAG_DATA_END == synth_status)
    			break;
    		printf(">");
    		usleep(150*1000); //防止频繁占用CPU
    	}//合成状态synth_status取值请参阅《讯飞语音云API文档》
    	printf("
    ");
    	if (MSP_SUCCESS != ret)
    	{
    		printf("QTTSAudioGet failed, error code: %d.
    ",ret);
    		QTTSSessionEnd(sessionID, "AudioGetError");
    		fclose(fp);
    		return ret;
    	}
    	/* 修正wav文件头数据的大小 */
    	wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8);
    	
    	/* 将修正过的数据写回文件头部,音频文件为wav格式 */
    	fseek(fp, 4, 0);
    	fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值
    	fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置
    	fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值
    	fclose(fp);
    	fp = NULL;
    	/* 合成完毕 */
    	ret = QTTSSessionEnd(sessionID, "Normal");
    	if (MSP_SUCCESS != ret)
    	{
    		printf("QTTSSessionEnd failed, error code: %d.
    ",ret);
    	}
    
    	return ret;
    }
    
    std::string to_string(int val) 
    {
        char buf[20];
        sprintf(buf, "%d", val);
        return std::string(buf);
    }
    
    void voiceWordsCallback(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;
    
        std::string dataString = msg->data;
        if(dataString.compare("你是谁?") == 0)
        {
            char nameString[40] = "我是你的语音小助手";
            text = nameString;
            std::cout<<text<<std::endl;
        }
        else if(dataString.compare("你可以做什么?") == 0)
        {
            char helpString[40] = "你可以问我现在时间";
            text = helpString;
            std::cout<<text<<std::endl;
        }
        else if(dataString.compare("现在时间。") == 0)
        {
            //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];
            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 ...
    ");
        ret = text_to_speech(text, filename, session_begin_params);
        if (MSP_SUCCESS != ret)
        {
            printf("text_to_speech failed, error code: %d.
    ", ret);
        }
        printf("合成完毕
    ");
    
    
        unlink("/tmp/cmd");  
        mkfifo("/tmp/cmd", 0777);  
        popen("mplayer -quiet -slave -input file=/tmp/cmd 'tts_sample.wav'","r");
        sleep(3);
    }
    
    void toExit()
    {
        printf("按任意键退出 ...
    ");
        getchar();
        MSPLogout(); //退出登录
    }
    
    int main(int argc, char* argv[])
    {
    	int         ret                  = MSP_SUCCESS;
    	const char* login_params         = "appid = 594a7b46, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动
    	/*
    	* rdn:           合成音频数字发音方式
    	* volume:        合成音频的音量
    	* pitch:         合成音频的音调
    	* speed:         合成音频对应的语速
    	* voice_name:    合成发音人
    	* sample_rate:   合成音频采样率
    	* text_encoding: 合成文本编码格式
    	*
    	* 详细参数说明请参阅《讯飞语音云MSC--API文档》
    	*/
    
    	/* 用户登录 */
    	ret = MSPLogin(NULL, NULL, login_params);//第一个参数是用户名,第二个参数是密码,第三个参数是登录参数,用户名和密码可在http://open.voicecloud.cn注册获取
    	if (MSP_SUCCESS != ret)
    	{
    		printf("MSPLogin failed, error code: %d.
    ", ret);
    		/*goto exit ;*///登录失败,退出登录
            toExit();
    	}
    	printf("
    ###########################################################################
    ");
    	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 ##
    ");
    	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  ##
    ");
    	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。  ##
    ");
    	printf("###########################################################################
    
    ");
    
    
        ros::init(argc,argv,"TextToSpeech");
        ros::NodeHandle n;
        ros::Subscriber sub =n.subscribe("voiceWords", 1000,voiceWordsCallback);
        ros::spin();
    
    exit:
    	printf("按任意键退出 ...
    ");
    	getchar();
    	MSPLogout(); //退出登录
    
    	return 0;
    }
    

    第一步,在CMakeLists.txt中加入编译规则

    add_executable(voice_assistant src/voice_assistant.cpp)
    target_link_libraries(
       voice_assistant
       ${catkin_LIBRARIES} 
       libmsc.so -ldl -pthread
     )
    

    第二步,智能语音助手示例

    $ roscore
    $ rosrun robot_voice iat_publish                    # 启动语音识别节点
    $ rosrun robot_voice voice_assistant                # 启动语音助手作为语音判断
    $ rostopic pub /voiceWakeup std_msgs/String "data:'any string'"  # 唤醒词
    

    4 参考资料

    1.ROS探索总结(二十八)——机器听觉

    https://www.guyuehome.com/514

    2.ROS Kinetic使用PocketSphinx进行语音识别

    https://blog.csdn.net/seeseeatre/article/details/79228816

    3.讯飞开放平台-以语音交互为核心的人工智能开放平台

    https://www.xfyun.cn/

    微信公众号:喵哥解说
    公众号介绍:主要研究机器学习、计算机视觉、深度学习、ROS等相关内容,分享学习过程中的学习笔记和心得!期待您的关注,欢迎一起学习交流进步!同时还有1200G的Python视频和书籍资料等你领取!!!

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  • 原文地址:https://www.cnblogs.com/IT-cute/p/12990339.html
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