sr_xfyun

wpb_home_tutorials/CMakeLists.txt

@@ -245,6 +245,14 @@ target_link_libraries(wpb_home_speech_recognition
   ${catkin_LIBRARIES}
 )
 
+add_executable(wpb_home_sr_xfyun
+  src/wpb_home_sr_xfyun.cpp
+)
+add_dependencies(wpb_home_sr_xfyun ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(wpb_home_sr_xfyun
+  ${catkin_LIBRARIES}
+)
+
 add_executable(wpb_home_velocity_control
   src/wpb_home_velocity_control.cpp
 )

wpb_home_tutorials/launch/sr_xfyun.launch

@@ -0,0 +1,15 @@
+<launch>
+
+    <!-- Run SR node -->
+    <node pkg="xfyun_waterplus" type="iat_node" name="xfyun_iat_node" output="screen">
+        <param name="cn" type="bool" value="true"/> 
+    </node>
+    <!-- Run TTS node -->
+    <node pkg="xfyun_waterplus" type="tts_node" name="xfyun_tts_node" /> 
+    <!-- Run sound_play -->
+    <node name="soundplay_node" pkg="sound_play" type="soundplay_node.py"/>
+
+    <!-- Run sr_xfyun -->
+    <node pkg="wpb_home_tutorials" type="wpb_home_sr_xfyun" name="wpb_home_sr_xfyun" output="screen"/>
+
+</launch>

wpb_home_tutorials/src/wpb_home_sr_xfyun.cpp

@@ -0,0 +1,72 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2017-2020, Waterplus http://www.6-robot.com
+*  All rights reserved.
+* 
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+* 
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the WaterPlus nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+* 
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  FOOTPRINTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+/*!******************************************************************
+ @author     ZhangWanjie
+ ********************************************************************/
+
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+
+static ros::Publisher spk_pub;
+static std_msgs::String strSpeak;
+
+void KeywordCB(const std_msgs::String::ConstPtr & msg)
+{
+  //ROS_WARN("[KeywordCB] - %s",msg->data.c_str());
+  int nFindIndex = 0;
+  nFindIndex = msg->data.find("你好");
+  if( nFindIndex >= 0 )
+  {
+    strSpeak.data = "很高兴认识你";
+    spk_pub.publish(strSpeak);
+  } 
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "wpb_home_sr_xfyun");
+
+  ros::NodeHandle n;
+  ros::Subscriber sub_sr = n.subscribe("/xfyun/iat", 10, KeywordCB);
+  spk_pub = n.advertise<std_msgs::String>("/xfyun/tts", 10);
+
+  ros::Rate r(10);
+  while(ros::ok())
+  {
+    ros::spinOnce();
+    r.sleep();
+  }
+
+  return 0;
+}