Welcome to Voice interaction module repository

2、Voice control of car movement

Take our company's product Rosmaster-X3 as an example to illustrate how to call Speech in the program_ The Lib library performs speech recognition to control the motion of the car/robot. This course needs to be combined with the hardware of the Rosmaster-X3 car, and only code analysis will be done here. Firstly, let's take a look at the built-in voice commands，

1、Run Case Program

The terminal inputs the following commands，

ros2 run yahboomcar_voice_ctrl Voice_Ctrl_Mcnamu_driver_X3

2、Core code

code path：~/driver_ws/src/yahboomcar_voice_ctrl/yahboomcar_voice_ctrl/Voice_Ctrl_Mcnamu_driver_X3.py

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#Import the corresponding voice library
from Speech_Lib import Speech
#Import the corresponding underlying driver library
from Rosmaster_Lib import Rosmaster
#Create voice control objects
spe = Speech()
#Create objects for underlying control
self.car = Rosmaster()
#Read the results of speech board recognition, speech_ R is the result of recognition, which is a number returned by the underlying library after parsing, which is used to identify instructions

speech_r = spe.speech_read()
if speech_r == 2 or speech_r == 0 :
....
#Write instructions and broadcast voice results. After the instructions are sent, the underlying library will package and send them to the voice board. After the voice board receives them, it will send out corresponding audio files
spe.void_write(speech_r)

#Control the movement of the car and the light strip, directly connect to the underlying library, not released through ROS
self.car.set_car_motion(vx, vy, angular) #Car movement
self.car.set_colorful_effect(6, 6, parm=1) #Light strip effect