Welcome to ROSMASTER X3 Plus repository

1. Voice control of robotic arm movements

Command word table

1.1. Function description

By interacting with the voice recognition module on the X3 Plus, you can not only achieve the basic control of the car and light strips in 14.3, but also control the movements of the robotic arm, including up, down, left, and right states, and some settings. Action groups, such as the robot arm "dancing", the robot arm "nodding", etc.

1.2. Start

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#Raspberry Pi 5 master needs to enter docker first, please perform this step
#If running the script into docker fails, please refer to ROS/07, Docker tutorial
~/run_docker.sh

1.2.1. Function package path

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~/yahboomcar_ws/src/yahboomcar_voice_ctrl/

1.2.2. Start

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roslaunch yahboomcar_voice_ctrl voice_ctrl_arm.launch

1.2.3. Core file voice_ctrl_arm.py

• code path

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~/yahboomcar/src/yahboomcar_voice_ctrl/scripts

• Core code analysis:

  1). Import related library files

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  from Speech_Lib import Speech
  from voice_arm_library import *
  from Rosmaster_Lib import Rosmaster
  

  Speech_Lib: Speech module library, reference path: ~/software/py_install_V0.0.1/py_install/Speech_Lib

  voice_arm_library: Robot arm action library, reference path: ~/yahboomcar/src/yahboomcar_voice_ctrl/scripts

  Rosmaster_Lib: underlying driver library, reference path: ~/software/py_install/Rosmaster_Lib

  2. Create speech recognition objects, drive control objects and robotic arm action objects

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  spe = Speech()
  self.car = Rosmaster()
  voice_arm = Voice_Arm()
  

  3). Main function: Recognize the voice, and execute the corresponding program based on the recognized voice. Take the robot arm to return to the initial position as an example.

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   speech_r = spe.speech_read()
              if speech_r!=999:
                  print(speech_r)
              #print(speech_r)
              if speech_r == 49 :
               spe.void_write(45)
               voice_arm.init_pose()
  

  Among them, voice_arm.init_pose() is the program that needs to be executed. At this time, it will jump to the voice_arm_library library and execute the function init_pose() inside. In the init_pose() function, what programs are executed? It is explained below,

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  def init_pose(self):
  self.arm_joint.joints =[90.0, 145.0, 0.0, 0.0, 90.0, 31.0]
  self.pubPoint.publish(self.arm_joint)
  

  Here we define the angle that each joint needs to execute, and then use TargetAngle as the topic to publish the data; then return to the main function and subscribe to the TargetAngle topic; receive the data, enter the callback function, and then pass the self.car.set_uart_servo_angle function Send it to the bottom layer to drive the steering gear.

  1.3. Program flow chart