ROS Robotics Projects（2）语音部分

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>

<param name="aiml_path" value="/home/relaybot/books_ws/src/ROS_Robotics_Projects_master/Chapter03/codes/ros_aiml/data" />

<node name="aiml_server" pkg="ros_aiml" type="aiml_server.py" output="screen">
</node>

<include file="$(find sound_play)/soundplay_node.launch"></include>
<node name="aiml_tts" pkg="ros_aiml" type="aiml_tts_client.py" output="screen">
</node>

<node name="aiml_client" pkg="ros_aiml" type="aiml_client.py" output="screen">
</node>

</launch>

----

命令运行结果：
relaybot@exbot-ThinkPad-T420s:~/books_ws$ roslaunch ros_aiml start_tts_chat.launch
... logging to /home/relaybot/.ros/log/31b69cf6-174d-11e7-85a6-0811968dc4b0/roslaunch-exbot-ThinkPad-T420s-22991.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://exbot-ThinkPad-T420s:41234/
SUMMARY
========

PARAMETERS
* /aiml_path: /home/relaybot/bo...
* /rosdistro: indigo
* /rosversion: 1.11.21

NODES
/
aiml_client (ros_aiml/aiml_client.py)
aiml_server (ros_aiml/aiml_server.py)
aiml_tts (ros_aiml/aiml_tts_client.py)
soundplay_node (sound_play/soundplay_node.py)

auto-starting new master
process[master]: started with pid [23003]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 31b69cf6-174d-11e7-85a6-0811968dc4b0
process[rosout-1]: started with pid [23016]
started core service [/rosout]
process[aiml_server-2]: started with pid [23023]
process[soundplay_node-3]: started with pid [23027]
process[aiml_tts-4]: started with pid [23034]
process[aiml_client-5]: started with pid [23036]

(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
/home/relaybot/books_ws/src/ROS_Robotics_Projects_master/Chapter03/codes/ros_aiml/data

Enter your text :> Starting TTS
[INFO] [WallTime: 1491100599.275978] Starting listening to response
Loading brain from standard.brn... done (98290 categories in 1.79 seconds)
Kernel bootstrap completed in 1.79 seconds
[INFO] [WallTime: 1491100600.147541] Starting ROS AIML Server
hi

Enter your text :> [INFO] [WallTime: 1491100605.857921] I heard:: hi
[INFO] [WallTime: 1491100605.858716] I spoke:: Hi there!
[INFO] [WallTime: 1491100605.859830] Response ::Hi there!
ji

Enter your text :> [INFO] [WallTime: 1491100611.535482] I heard:: ji
[INFO] [WallTime: 1491100611.536626] I spoke:: Where are you located?
[INFO] [WallTime: 1491100611.538437] Response ::Where are you located?

Enter your text :> [INFO] [WallTime: 1491100615.331469] I heard::
[INFO] [WallTime: 1491100615.332579] I spoke::
[INFO] [WallTime: 1491100615.334038] Response ::

Enter your text :> [INFO] [WallTime: 1491100620.908207] I heard::
[INFO] [WallTime: 1491100620.909390] I spoke::
[INFO] [WallTime: 1491100620.910688] Response ::
what is your name

Enter your text :> [INFO] [WallTime: 1491100628.790155] I heard:: what is your name
[INFO] [WallTime: 1491100628.791255] I spoke:: My name is Nameless.
[INFO] [WallTime: 1491100628.792728] Response ::My name is Nameless.
Do you love ros

Enter your text :> [INFO] [WallTime: 1491100640.447431] I heard:: Do you love ros
[INFO] [WallTime: 1491100640.448486] I spoke:: Yes Nameless loves everyone and everything.
[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：
relaybot@exbot-ThinkPad-T420s:~/books_ws/src/ROS_Robotics_Projects_master/Chapter03/codes$ tree
.
├── audio_common
│   ├── audio_capture
│   │   ├── CHANGELOG.rst
│   │   ├── CMakeLists.txt
│   │   ├── launch
│   │   │   ├── capture.launch
│   │   │   ├── capture_to_file.launch
│   │   │   └── capture_wave.launch
│   │   ├── mainpage.dox
│   │   ├── package.xml
│   │   └── src
│   │   └── audio_capture.cpp
│   ├── audio_common
│   │   ├── CHANGELOG.rst
│   │   ├── CMakeLists.txt
│   │   └── package.xml
│   ├── audio_common_msgs
│   │   ├── CHANGELOG.rst
│   │   ├── CMakeLists.txt
│   │   ├── mainpage.dox
│   │   ├── msg
│   │   │   └── AudioData.msg
│   │   └── package.xml
│   ├── audio_play
│   │   ├── CHANGELOG.rst
│   │   ├── CMakeLists.txt
│   │   ├── launch
│   │   │   └── play.launch
│   │   ├── mainpage.dox
│   │   ├── package.xml
│   │   └── src
│   │   └── audio_play.cpp
│   └── sound_play
│   ├── action
│   │   └── SoundRequest.action
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── include
│   │   └── sound_play
│   │   └── sound_play.h
│   ├── mainpage.dox
│   ├── msg
│   │   └── SoundRequest.msg
│   ├── package.xml
│   ├── README
│   ├── scripts
│   │   ├── playbuiltin.py
│   │   ├── playpackage.py
│   │   ├── play.py
│   │   ├── say.py
│   │   ├── shutup.py
│   │   ├── soundclient_example.py
│   │   ├── soundplay_node.py
│   │   ├── test
│   │   │   └── test_sound_client.py
│   │   ├── test_actionlib_client.py
│   │   └── test.py
│   ├── setup.py
│   ├── soundplay_node.launch
│   ├── sounds
│   │   ├── BACKINGUP.ogg
│   │   ├── NEEDS_PLUGGING_BADLY.ogg
│   │   ├── NEEDS_PLUGGING.ogg
│   │   ├── NEEDS_UNPLUGGING_BADLY.ogg
│   │   ├── NEEDS_UNPLUGGING.ogg
│   │   └── say-beep.wav
│   ├── src
│   │   └── sound_play
│   │   ├── __init__.py
│   │   ├── libsoundplay.py
│   │   └── libsoundplay.pyc
│   ├── test
│   │   ├── CMakeLists.txt
│   │   └── test.cpp
│   └── test.launch
└── ros_aiml
├── CMakeLists.txt
├── data
│   ├── ai.aiml
│   ├── alice.aiml
│   ├── astrology.aiml
│   ├── atomic.aiml
│   ├── badanswer.aiml
│   ├── biography.aiml
│   ├── bot.aiml
│   ├── bot_profile.aiml
│   ├── client.aiml
│   ├── client_profile.aiml
│   ├── computers.aiml
│   ├── continuation.aiml
│   ├── date.aiml
│   ├── default.aiml
│   ├── drugs.aiml
│   ├── emotion.aiml
│   ├── food.aiml
│   ├── geography.aiml
│   ├── gossip.aiml
│   ├── history.aiml
│   ├── humor.aiml
│   ├── imponderables.aiml
│   ├── inquiry.aiml
│   ├── interjection.aiml
│   ├── iu.aiml
│   ├── junktest.text
│   ├── knowledge.aiml
│   ├── literature.aiml
│   ├── loebner10.aiml
│   ├── money.aiml
│   ├── movies.aiml
│   ├── mp0.aiml
│   ├── mp1.aiml
│   ├── mp2.aiml
│   ├── mp3.aiml
│   ├── mp4.aiml
│   ├── mp5.aiml
│   ├── mp6.aiml
│   ├── music.aiml
│   ├── numbers.aiml
│   ├── personality.aiml
│   ├── phone.aiml
│   ├── pickup.aiml
│   ├── politics.aiml
│   ├── primeminister.aiml
│   ├── primitive-math.aiml
│   ├── psychology.aiml
│   ├── pyschology.aiml
│   ├── reduction0.safe.aiml
│   ├── reduction1.safe.aiml
│   ├── reduction2.safe.aiml
│   ├── reduction3.safe.aiml
│   ├── reduction4.safe.aiml
│   ├── reduction.names.aiml
│   ├── reductions-update.aiml
│   ├── religion.aiml
│   ├── salutations.aiml
│   ├── science.aiml
│   ├── sex.aiml
│   ├── sports.aiml
│   ├── stack.aiml
│   ├── standard.brn
│   ├── startup.xml
│   ├── stories.aiml
│   ├── that.aiml
│   ├── update1.aiml
│   ├── update_mccormick.aiml
│   ├── wallace.aiml
│   └── xfind.aiml
├── launch
│   ├── start_chat.launch
│   ├── start_chat.launch~
│   ├── start_speech_chat.launch
│   ├── start_speech_chat.launch~
│   ├── start_tts_chat.launch
│   └── start_tts_chat.launch~
├── package.xml
└── scripts
├── aiml_client.py
├── aiml_server.py
├── aiml_speech_recog_client.py
└── aiml_tts_client.py

25 directories, 135 files

--End--