Welcome to ROSMASTER X3 Plus repository

1.Voice control robotic arm movement

Command word table

1.1、Function Description

Voice control the motion status of the car, RGB light bar, robotic arm action group, etc.

1.2 Start

1.2.1 Ros package path

~/yahboomcar_ws/src/yahboomcar_voice_ctrl/

1.2.2 Start

#You need to enter docker first, perform this step more
#If running the script to enter docker fails, please refer to 07.Docker-orin/05, Enter the robot's docker container
~/run_docker.sh
roslaunch yahboomcar_voice_ctrl voice_ctrl_arm.launch

1.2.3 Code voice_ctrl_arm.py

• Code path

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~/yahboomcar/src/yahboomcar_voice_ctrl/scripts

• Code analysis:

  1） import the relevant library files

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

  Speech_Lib: Voice module library, path:

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  ~/software/py_install_V0.0.1/py_install/Speech_Lib
  

  voice_arm_library：Robot arm action group library， path：

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  ~/yahboomcar/src/yahboomcar_voice_ctrl/scripts
  

  Rosmaster_Lib: Rosmaster driver library, path：

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  ~/software/py_install/Rosmaster_Lib
  

  2）Create voice 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: According to the result of the voice recognition, the relative code is executed. In this course, we take returning the robotic arm 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()
  

  voice_arm.init_pose()it 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, the following function will be executed.

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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)
  

  Defines the angle that each joint needs to execute, takes TargetAngleas the topic, and publishes the data; then returns to the main function, subscribes to the TargetAngle topic; receives the data, enters the callback function, and sends it to the underlying control through the self.car.set_uart_servo_anglefunction , which drives the servo.

  1.3 Flowchart