Welcome to Muto RS Robot repository

2. Voice Control Muto Motion

Before running this program, you need to bind the port numbers of the voice board and the ROS expansion board on the host machine. You can refer to the previous chapter for binding. When entering the Docker container, you need to mount this voice board so that it can be recognized within the container.

1. Program Function Description

After the program starts, say "Hello, yahboom" to the module. The module will reply with "I'm here" to wake up the voice board. Then you can issue voice commands to control Muto's basic movements, such as moving forward, backward, turning left/right. The movement will stop after 5 seconds.

2. Program Code Reference Path

After entering the Docker container, the source code for this function is located at:

/root/yahboomcar_ros2_ws/yahboomcar_ws/src/yahboomcar_voice_ctrl/yahboomcar_voice_ctrl/Voice_Ctrl_driver.py

3. Program Startup

3.1. Startup Command

Open two terminals and enter the Docker container in each.

If there is no running Docker container, use the start_muto_docker script to start one. If a container is already running, use the enter_muto_docker script to enter it.

In the first terminal, enter:

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ros2 launch yahboom_speech speech.launch.py

In the second terminal, enter:

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ros2 run yahboomcar_voice_ctrl Voice_Ctrl_driver

After successful startup, you need to say the wake-up word "Hello yahboom".

Muto will reply: "I'm here".

At this point, you can begin voice-controlled movement. The supported command words are as follows (function description on the left, supported command words on the right):

• Motion Control

4. Core Code

The code in this section is largely similar to muto_driver.py in yahboomcar_bringup, with the addition of receiving and parsing voice control commands. The following explains how this part is implemented:

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    def voice_callback(self, msg):
        if not isinstance(msg, Int8): return
        speech_r = msg.data
        # Stop
        if speech_r == 2 or speech_r == 0 :
            print("stop!")     
            self.execute_vel(0.0, 0.0, 0)
        # Go ahead
        elif speech_r == 4 :
            print("Go ahead!")     
            self.speech_and_move(0.5, 0.0, 0)
        # Back off
        elif speech_r == 5 :
            print("Back off!")
            self.speech_and_move(-0.5, 0.0, 0)
        # Turn left
        elif speech_r == 6 :
            print("Turn left")
            self.speech_and_move(0.3, 0.0, 1)
        # Turn right    
        elif speech_r == 7 :
            print("Turn right")
            self.speech_and_move(0.3, 0.0, -1)

The command words for this lesson correspond as follows:

• Motion Control