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#!/usr/bin/env python
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# -*- coding: UTF-8 -*-
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# TurtleBot must have minimal.launch & amcl_demo.launch
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# running prior to starting this script
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# For simulation: launch gazebo world & amcl_demo prior to run this script
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import rospy
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from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
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import actionlib
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from actionlib_msgs.msg import *
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from geometry_msgs.msg import Pose, Point, Quaternion
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#定义消息的类型
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from std_msgs.msg import Int32
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from std_msgs.msg import String
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import time
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angle_of_wakeup = 0
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# 回调函数
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def callback(data):
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angle_of_wakeup = data.data
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rospy.loginfo(rospy.get_caller_id() + "I heard %d", data.data)
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# 赋值角度
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rospy.loginfo(rospy.get_caller_id() + "I heard angle: %d", angle_of_wakeup)
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# 定义订阅者节点
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def listener():
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rospy.Subscriber("/mic/awake/angle", Int32, callback)
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return True
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class GoToPose():
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def __init__(self):
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self.goal_sent = False
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# What to do if shut down (e.g. Ctrl-C or failure)
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rospy.on_shutdown(self.shutdown)
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# Tell the action client that we want to spin a thread by default
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self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
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rospy.loginfo("Wait for the action server to come up")
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# Allow up to 10 seconds for the action server to come up
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self.move_base.wait_for_server(rospy.Duration(2))
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def goto(self, pos, quat):
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# Send a goal
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self.goal_sent = True
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goal = MoveBaseGoal()
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goal.target_pose.header.frame_id = 'map'
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goal.target_pose.header.stamp = rospy.Time.now()
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goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000),
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Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4']))
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# Start moving
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self.move_base.send_goal(goal)
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# Allow TurtleBot up to 60 seconds to complete task
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# Time to finish the navigation
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# by lcp 2021/7/1
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success = self.move_base.wait_for_result(rospy.Duration(60))
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state = self.move_base.get_state()
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result = False
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if success and state == GoalStatus.SUCCEEDED:
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# We made it!
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result = True
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else:
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self.move_base.cancel_goal()
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self.goal_sent = False
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return result
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def shutdown(self):
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if self.goal_sent:
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self.move_base.cancel_goal()
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rospy.loginfo("Stop")
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rospy.sleep(1)
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if __name__ == '__main__':
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try:
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rospy.init_node('nav_test', anonymous=True)
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#rospy.Subscriber("/mic/awake/angle", Int32, callback)
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rospy.sleep(1)
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whether_stranger = False
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while not rospy.is_shutdown() and whether_stranger == False:
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data = rospy.wait_for_message("/mic/awake/angle", Int32, timeout=None)
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print(data.data)
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if data.data!=0:
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angle_of_wakeup = data.data
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whether_stranger = True;
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break;
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navigator = GoToPose()
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# Customize the following values so they are appropriate for your location
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position_door = {'x': 1.33, 'y' : 3.3}
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# position_window = {'x' : -0.8, 'y' : -0.12}
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quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}
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rospy.loginfo("Go to (%s, %s) pose", position_door['x'], position_door['y'])
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success = navigator.goto(position_door, quaternion)
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# 发布小车是否到达的消息
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pub = rospy.Publisher('whether_reach', Int32, queue_size=10)
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if success:
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rospy.loginfo("Hooray, reached the desired pose")
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while not rospy.is_shutdown():
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pub.publish(1)
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rospy.loginfo('yes')
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else:
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rospy.loginfo("The base failed to reach the desired pose")
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while not rospy.is_shutdown():
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pub.publish(0)
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rospy.loginfo('no')
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# Sleep to give the last log messages time to be sent
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rospy.sleep(1)
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except rospy.ROSInterruptException:
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rospy.loginfo("Ctrl-C caught. Quitting")
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@ -1,6 +0,0 @@
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#!/usr/bin/env python
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# -*- coding: UTF-8 -*-
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import os
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os.system("conda run -n base python ~/Desktop/voiceprint-linux/infer_contrast.py")
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#!/usr/bin/env python
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# -*- coding: UTF-8 -*-
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import rospy
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from std_msgs.msg import String
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resultstr = "no"
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def talker():
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pub = rospy.Publisher('chatter', String, queue_size=10)
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rospy.init_node('talker', anonymous=True)
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rate = rospy.Rate(10) # 10hz
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while not rospy.is_shutdown():
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rospy.loginfo(resultstr)
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pub.publish(resultstr)
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rate.sleep()
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if __name__ == '__main__':
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try:
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# 读取结果
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fresult = open("/home/turtlebot/myresult/result.txt")
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resultstr = fresult.read(20)
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talker()
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print(resultstr)
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fresult.close()
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except rospy.ROSInterruptException:
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pass
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#include <user_interface.h>
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#include <string>
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#include <locale>
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#include <codecvt>
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#include <ctime>
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#include <time.h>
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#include <ros/ros.h>
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#include <std_msgs/String.h>
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#include <xf_mic_asr_offline/Get_Offline_Result_srv.h>
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#include <xf_mic_asr_offline/Set_Major_Mic_srv.h>
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#include <xf_mic_asr_offline/Set_Led_On_srv.h>
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#include <xf_mic_asr_offline/Get_Major_Mic_srv.h>
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#include <xf_mic_asr_offline/Pcm_Msg.h>
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#include <xf_mic_asr_offline/Start_Record_srv.h>
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#include <xf_mic_asr_offline/Set_Awake_Word_srv.h>
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#include <xf_mic_asr_offline/Get_Awake_Angle_srv.h>
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#include <std_msgs/Int8.h>
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#include <std_msgs/Int32.h>
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#include <sys/stat.h>
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bool record_symbol = false;
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void chatterCallback(const std_msgs::Int32::ConstPtr& msg)
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{
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ROS_INFO("I heard: [%d]", msg->data);
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record_symbol = msg->data;
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}
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "start");
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ros::NodeHandle n;
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ros::Subscriber sub = n.subscribe("whether_reach", 1, chatterCallback);
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ros::spin();
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//删除原有的音频
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system("rm ~/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm");
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if (record_symbol){
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//开始录音
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int symbol_of_start = start_to_record_denoised_sound();
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//录音10s
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sleep(10);
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//停止录音
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int symbol_of_stop = finish_to_record_denoised_sound();
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}
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//修改音频格式
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system("python ~/catkin_ws/src/xf_mic_asr_offline/audio/change.py");
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ros::waitForShutdown();
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//sleep(2);
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system("python3 /home/turtlebot/mymodel/voiceprint/infer_contrast.py");
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printf("over!");
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//关闭麦克风
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hid_close();
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return 0;
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}
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