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fix voice_cmd

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This commit is contained in:
ZhangWanjie 2017-03-28 20:10:53 +08:00
parent 8ab03de514
commit 01181196f6
1 changed files with 42 additions and 36 deletions
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78
wpb_home_tutorials/src/wpb_home_voice_cmd.cpp
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@ -44,50 +44,56 @@ void KeywordCB(const std_msgs::String::ConstPtr & msg)
{ {
ROS_WARN("[KeywordCB] - %s",msg->data.c_str()); ROS_WARN("[KeywordCB] - %s",msg->data.c_str());
geometry_msgs::Twist vel_cmd; geometry_msgs::Twist vel_cmd;
vel_cmd.linear.x = 0; vel_cmd.linear.x = 0;
vel_cmd.linear.y = 0; vel_cmd.linear.y = 0;
vel_cmd.linear.z = 0; vel_cmd.linear.z = 0;
vel_cmd.angular.x = 0; vel_cmd.angular.x = 0;
vel_cmd.angular.y = 0; vel_cmd.angular.y = 0;
vel_cmd.angular.z = 0; vel_cmd.angular.z = 0;
if(msg->data.find("forward")>0) int nFindIndex = 0;
{ nFindIndex = msg->data.find("forward");
vel_cmd.linear.x = 0.1; if(nFindIndex >= 0)
} {
if(msg->data.find("backward")>0) vel_cmd.linear.x = 0.1;
{ }
vel_cmd.linear.x = -0.1; nFindIndex = msg->data.find("backward");
} if(nFindIndex >= 0)
if(msg->data.find("left")>0) {
{ vel_cmd.linear.x = -0.1;
vel_cmd.linear.y = 0.1; }
} nFindIndex = msg->data.find("left");
if(msg->data.find("right")>0) if(nFindIndex >= 0)
{ {
vel_cmd.linear.y = -0.1; vel_cmd.linear.y = 0.1;
} }
if(msg->data.find("stop")>0) nFindIndex = msg->data.find("right");
{ if(nFindIndex >= 0)
vel_cmd.linear.x = 0; {
vel_cmd.linear.y = 0; vel_cmd.linear.y = -0.1;
vel_cmd.angular.z = 0; }
} nFindIndex = msg->data.find("stop");
if(nFindIndex >= 0)
{
vel_cmd.linear.x = 0;
vel_cmd.linear.y = 0;
vel_cmd.angular.z = 0;
}
vel_pub.publish(vel_cmd); vel_pub.publish(vel_cmd);
} }
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
ros::init(argc, argv, "wpb_home_voice_cmd"); ros::init(argc, argv, "wpb_home_voice_cmd");
ros::NodeHandle n; ros::NodeHandle n;
vel_pub = n.advertise<geometry_msgs::Twist>("/cmd_vel", 10); vel_pub = n.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
ros::Subscriber sub_sr = n.subscribe("/recognizer/output", 10, KeywordCB); ros::Subscriber sub_sr = n.subscribe("/recognizer/output", 10, KeywordCB);
ros::spin(); ros::spin();
return 0; return 0;
} }