PocketSphinx语音识别和turtlebot的语音控制--18

摘要: 原创博客:转载请表明出处:http://www.cnblogs.com/zxouxuewei/

1.首先安装 PocketSphinx 语音识别：

$ sudo apt-get install gstreamer0.-pocketsphinx
$ sudo apt-get install ros-indigo-pocketsphinx
$ sudo apt-get install ros-indigo-audio-common
$ sudo apt-get install libasound2
$ sudo apt-get install gstreamer0.-gconf(有些书本没有说要安装，但经过在indigo版本测试，必须安装)

2.测试PocketSphinx 语音识别，首先在系统设置里sound中input设置内置语音音量，不要太大。安装完成后我们就可以运行测试了。
        首先，插入你的麦克风设备，然后在系统设置里测试麦克风是否有语音输入。
        然后，运行包中的测试程序：

然后启动launch文件：

$ roslaunch pocketsphinx robocup.launch

此时，在终端中会看到一大段的信息。尝试说一些简单的语句，当然，必须是英语，例如：bring me the glass，come with me，看看能不能识别出来。

我们也可以直接看ROS最后发布的结果消息：

$ rostopic echo /recognizer/output

3.这个语音识别时一种离线识别的方法，将一些常用的词汇放到一个文件中，作为识别的文本库，然后分段识别语音信号，最后在库中搜索对应的文本信息。如果想看语音识别库中有哪些文本信息，可以通过下面的指令进行查询：

$ roscd pocketsphinx/demo
$ more robocup.corpus

4.添加语音库。 我们可以自己向语音库中添加其他的文本识别信息《ros by example》自带的例程中是带有语音识别的例程的，而且有添加语音库的例子。  首先看看例子中要添加的文本息：

$ roscd rbx1_speech/config
$ more nav_commands.txt

以下是需要添加的文本，我们也可以修改其中的某些文本，改成自己需要的。然后我们要把这个文件在线生成语音信息和库文件，这一步需要登陆网站http://www.speech.cs.cmu.edu/tools/lmtool-new.html，根据网站的提示上传文件，然后在线编译生成库文件。

把下载的文件都解压放在rbx1_speech包的config文件夹下。我们可以给这些文件改个名字：

$ roscd rbx1_speech/config
$ rename -f 's/3026/nav_commands/' 

5.在rbx1_speech/launch文件夹下看看voice_nav_commands.launch这个文件：

    <launch>
    <node name="recognizer" pkg="pocketsphinx" type="recognizer.py"
    output="screen">
    <param name="lm" value="$(find rbx1_speech)/config/nav_commands.lm"/>
    <param name="dict" value="$(find rbx1_speech)/config/nav_commands.dic"/>
    </node>
    </launch>  

可以看到，这个launch文件在运行recognizer.py节点的时候使用了我们生成的语音识别库和文件参数，这样就可以实用我们自己的语音库来进行语音识别了。
 通过之前的命令来测试一下效果如何吧：

    $ roslaunch rbx1_speech voice_nav_commands.launch
    $ rostopic echo /recognizer/output  

6.语音控制turtlrbot机器人移动：recognizer.py会将最后识别的文本信息通过消息发布，那么我们来编写一个机器人控制节点接收这个消息，进行相应的控制即可。在pocketsphinx包中本身有一个语音控制发布Twist消息的例程voice_cmd_vel.py，rbx1_speech包对其进行了一些简化修改，在nodes文件夹里可以查看voice_nav.py文件：

#!/usr/bin/env python

"""
  voice_nav.py - Version 1.1 --

  Allows controlling a mobile base using simple speech commands.

  Based on the voice_cmd_vel.py script by Michael Ferguson in
  the pocketsphinx ROS package.

  See http://www.ros.org/wiki/pocketsphinx
"""

import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import String
from math import copysign

class VoiceNav:
    def __init__(self):
        rospy.init_node('voice_nav')

        rospy.on_shutdown(self.cleanup)

        # Set a number of parameters affecting the robot's speed
        self.max_speed = rospy.get_param("~max_speed", 0.4)
        self.max_angular_speed = rospy.get_param("~max_angular_speed", 1.5)
        self.speed = rospy.get_param("~start_speed", 0.1)
        self.angular_speed = rospy.get_param("~start_angular_speed", 0.5)
        self.linear_increment = rospy.get_param("~linear_increment", 0.05)
        self.angular_increment = rospy.get_param("~angular_increment", 0.4)

        # We don't have to run the script very fast
        self.rate = rospy.get_param("~rate", )
        r = rospy.Rate(self.rate)

        # A flag to determine whether or not voice control is paused
        self.paused = False

        # Initialize the Twist message we will publish.
        self.cmd_vel = Twist()

        # Publish the Twist message to the cmd_vel topic
        self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=)

        # Subscribe to the /recognizer/output topic to receive voice commands.
        rospy.Subscriber('/recognizer/output', String, self.speech_callback)

        # A mapping from keywords or phrases to commands
        self.keywords_to_command = {'stop': ['stop', 'halt', 'abort', 'kill', 'panic', 'off', 'freeze', 'shut down', 'turn off', 'help', 'help me'],
                                    'slower': ['slow down', 'slower'],
                                    'faster': ['speed up', 'faster'],
                                    'forward': ['forward', 'ahead', 'straight'],
                                    'backward': ['back', 'backward', 'back up'],
                                    'rotate left': ['rotate left'],
                                    'rotate right': ['rotate right'],
                                    'turn left': ['turn left'],
                                    'turn right': ['turn right'],
                                    'quarter': ['quarter speed'],
                                    'half': ['half speed'],
                                    'full': ['full speed'],
                                    'pause': ['pause speech'],
                                    'continue': ['continue speech']}

        rospy.loginfo("Ready to receive voice commands")

        # We have to keep publishing the cmd_vel message if we want the robot to keep moving.
        while not rospy.is_shutdown():
            self.cmd_vel_pub.publish(self.cmd_vel)
            r.sleep()                       

    def get_command(self, data):
        # Attempt to match the recognized word or phrase to the
        # keywords_to_command dictionary and return the appropriate
        # command
        for (command, keywords) in self.keywords_to_command.iteritems():
            for word in keywords:
                if data.find(word) > -:
                    return command

    def speech_callback(self, msg):
        # Get the motion command from the recognized phrase
        command = self.get_command(msg.data)

        # Log the command to the screen
        rospy.loginfo("Command: " + str(command))

        # If the user has asked to pause/continue voice control,
        # set the flag accordingly
        if command == 'pause':
            self.paused = True
        elif command == 'continue':
            self.paused = False

        # If voice control is paused, simply return without
        # performing any action
        if self.paused:
            return       

        # The list of if-then statements should be fairly
        # self-explanatory
        if command == 'forward':
            self.cmd_vel.linear.x = self.speed
            self.cmd_vel.angular.z = 

        elif command == 'rotate left':
            self.cmd_vel.linear.x =
            self.cmd_vel.angular.z = self.angular_speed

        elif command == 'rotate right':
            self.cmd_vel.linear.x =
            self.cmd_vel.angular.z = -self.angular_speed

        elif command == 'turn left':
            if self.cmd_vel.linear.x != :
                self.cmd_vel.angular.z += self.angular_increment
            else:
                self.cmd_vel.angular.z = self.angular_speed

        elif command == 'turn right':
            if self.cmd_vel.linear.x != :
                self.cmd_vel.angular.z -= self.angular_increment
            else:
                self.cmd_vel.angular.z = -self.angular_speed

        elif command == 'backward':
            self.cmd_vel.linear.x = -self.speed
            self.cmd_vel.angular.z = 

        elif command == 'stop':
            # Stop the robot!  Publish a Twist message consisting of all zeros.
            self.cmd_vel = Twist()

        elif command == 'faster':
            self.speed += self.linear_increment
            self.angular_speed += self.angular_increment
            if self.cmd_vel.linear.x != :
                self.cmd_vel.linear.x += copysign(self.linear_increment, self.cmd_vel.linear.x)
            if self.cmd_vel.angular.z != :
                self.cmd_vel.angular.z += copysign(self.angular_increment, self.cmd_vel.angular.z)

        elif command == 'slower':
            self.speed -= self.linear_increment
            self.angular_speed -= self.angular_increment
            if self.cmd_vel.linear.x != :
                self.cmd_vel.linear.x -= copysign(self.linear_increment, self.cmd_vel.linear.x)
            if self.cmd_vel.angular.z != :
                self.cmd_vel.angular.z -= copysign(self.angular_increment, self.cmd_vel.angular.z)

        elif command in ['quarter', 'half', 'full']:
            if command == 'quarter':
                self.speed = copysign(self.max_speed / , self.speed)

            elif command == 'half':
                self.speed = copysign(self.max_speed / , self.speed)

            elif command == 'full':
                self.speed = copysign(self.max_speed, self.speed)

            if self.cmd_vel.linear.x != :
                self.cmd_vel.linear.x = copysign(self.speed, self.cmd_vel.linear.x)

            if self.cmd_vel.angular.z != :
                self.cmd_vel.angular.z = copysign(self.angular_speed, self.cmd_vel.angular.z)

        else:
            return

        self.cmd_vel.linear.x = min(self.max_speed, max(-self.max_speed, self.cmd_vel.linear.x))
        self.cmd_vel.angular.z = min(self.max_angular_speed, max(-self.max_angular_speed, self.cmd_vel.angular.z))

    def cleanup(self):
        # When shutting down be sure to stop the robot!
        twist = Twist()
        self.cmd_vel_pub.publish(twist)
        rospy.sleep()

if __name__=="__main__":
    try:
        VoiceNav()
        rospy.spin()
    except rospy.ROSInterruptException:
        rospy.loginfo("Voice navigation terminated.")

7.仿真测试

$ roslaunch rbx1_bringup fake_turtlebot.launch            首先是运行一个机器人模型：
$ rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz    然后打开rviz：
$ roslaunch rbx1_speech voice_nav_commands.launch         再打开语音识别的节点：
$ roslaunch rbx1_speech turtlebot_voice_nav.launch        最后就是机器人的控制节点了：

下图是我的测试结果，不过感觉准确度还是欠佳：

8.播放语音

现在机器人已经可以按照我们说的话行动了，要是机器人可以和我们对话就更好了。ROS中已经集成了这样的包，下面就来尝试一下。
 运行下面的命令：

$ rosrun sound_play soundplay_node.py
$ rosrun sound_play say.py "Greetings Humans. Take me to your leader."  

有没有听见声音！ROS通过识别我们输入的文本，让机器人读了出来。发出这个声音的人叫做kal_diphone，如果不喜欢，我们也可以换一个人来读：

$ sudo apt-get install festvox-don
$ rosrun sound_play say.py "Welcome to the future" voice_don_diphone

在rbx1_speech/nodes文件夹中有一个让机器人说话的节点talkback.py:

    #!/usr/bin/env python  

    """
        talkback.py - Version 0.1 -- 

        Use the sound_play client to say back what is heard by the pocketsphinx recognizer. 

        Created for the Pi Robot Project: http://www.pirobot.org
        Copyright (c)  Patrick Goebel.  All rights reserved. 

        This program is free software; you can redistribute it and/or modify
        it under the terms of the GNU General Public License as published by
        the Free Software Foundation; either version  of the License, or
        (at your option) any later version. 

        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details at: 

        http://www.gnu.org/licenses/gpl.htmlPoint
    """  

    import roslib; roslib.load_manifest('rbx1_speech')
    import rospy
    from std_msgs.msg import String
    from sound_play.libsoundplay import SoundClient
    import sys  

    class TalkBack:
        def __init__(self, script_path):
            rospy.init_node('talkback')  

            rospy.on_shutdown(self.cleanup)  

            # Set the default TTS voice to use
            self.voice = rospy.get_param("~voice", "voice_don_diphone")  

            # Set the wave file path if used
            self.wavepath = rospy.get_param("~wavepath", script_path + "/../sounds")  

            # Create the sound client object
            self.soundhandle = SoundClient()  

            # Wait a moment to let the client connect to the
            # sound_play server
            rospy.sleep()  

            # Make sure any lingering sound_play processes are stopped.
            self.soundhandle.stopAll()  

            # Announce that we are ready for input
            self.soundhandle.playWave(self.wavepath + "/R2D2a.wav")
            rospy.sleep()
            self.soundhandle.say("Ready", self.voice)  

            rospy.loginfo("Say one of the navigation commands...")  

            # Subscribe to the recognizer output and set the callback function
            rospy.Subscriber('/recognizer/output', String, self.talkback)  

        def talkback(self, msg):
            # Print the recognized words on the screen
            rospy.loginfo(msg.data)  

            # Speak the recognized words in the selected voice
            self.soundhandle.say(msg.data, self.voice)  

            # Uncomment to play one of the built-in sounds
            #rospy.sleep()
            #self.soundhandle.play()  

            # Uncomment to play a wave file
            #rospy.sleep()
            #self.soundhandle.playWave(self.wavepath + "/R2D2a.wav")  

        def cleanup(self):
            self.soundhandle.stopAll()
            rospy.loginfo("Shutting down talkback node...")  

    if __name__=="__main__":
        try:
            TalkBack(sys.path[])
            rospy.spin()
        except rospy.ROSInterruptException:
            rospy.loginfo("Talkback node terminated.")  

我们来运行看一下效果：

$ roslaunch rbx1_speech talkback.launch