1.\u786c\u4ef6\u51c6\u5907<\/h2>\n
\u672c\u6587\u5c06\u91c7\u7528\u79d1\u5927\u8baf\u98de\u51fa\u7684\u4e00\u6b3e\u53ef\u4ee5\u5c4f\u853d\u7535\u5b50\u97f3\u7684\u677f\u5b50\uff0c\u652f\u6301Linux\u7cfb\u7edf\uff0c\u5b83\u91c7\u7528\u5e73\u9762\u5f0f\u5206\u5e03\u7ed3\u6784\uff0c\u5305\u542b 6 \u4e2a\u9ea6\u514b\u98ce\uff0c\u53ef\u5b9e\u73b0 360 \u5ea6\u7b49\u6548\u62fe\u97f3\uff0c\u5524\u9192\u5206\u8fa8\u7387\u4e3a 1 \u5ea6\u3002\u53ef\u4ee5\u4f7f\u7528\u9ea6\u514b\u98ce\u9635\u5217\u83b7\u53d6\u539f\u59cb\u548c\u964d\u566a\u97f3\u9891\uff0c\u83b7\u53d6\u5524\u9192\u89d2\u5ea6\uff0c\u4e3b\u9ea6\u7f16\u53f7\u3002\u9ea6\u514b\u98ce\u9635\u5217\u7ed3\u6784\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u914d\u5907\u7684\u6309\u952e\u548c\u63a5\u53e3\u5982\u4e0b:<\/p>\n
\u56e0\u4e3a\u4e0a\u4f4d\u673a\u6ca1\u6709\u5587\u53ed\uff0c\u6240\u4ee5\u9664\u4e86\u9ea6\u514b\u98ce\u9635\u5217\u4ee5\u5916\u8fd8\u4e70\u4e86\u4e2a\u5c0f\u5587\u53ed\uff0c\u5e26\u964d\u566a\u8f93\u51fa\u7aef\u53e3\u7684\uff0c\u53ef\u4ee5\u63a5\u5230\u9ea6\u514b\u98ce\u9635\u5217\u4e0a\uff0c\u907f\u514d\u5587\u53ed\u5e72\u6270\u9ea6\u514b\u98ce\u9635\u5217\u7684\u6536\u97f3\u6548\u679c\u3002<\/p>\n <\/p>\n <\/p>\n \u603b\u4f53\u4ee3\u7801\u7ed3\u6784\uff1a<\/p>\n \u672c\u6587\u4e2d\u7528\u5230\u7684\u4ee3\u7801\u4f4d\u7f6e\uff1ahttps:\/\/github.com\/yanjingang\/xf_mic_asr_offline\u3002<\/p>\n \u901a\u8fc7launch\/mic_init.launch\u542f\u52a8<\/span>\uff0c\u8d1f\u8d23\u5bf9\u63a5\u9ea6\u514b\u98ce\u9635\u5217\u548cSDK\uff0c\u521d\u59cb\u5316\u9ea6\u514b\u98ce\uff0c\u5e76\u5c06SDK\u8bc6\u522b\u7ed3\u679c\u901a\u8fc7topic\u53d1\u5e03\u7ed9\u5524\u9192\u63a7\u5236\u5668\u6216\u6307\u4ee4\u63a7\u5236\u5668:<\/span><\/p>\n \u540c\u65f6\u542f\u52a8\u4e00\u7cfb\u5217\u670d\u52a1\uff1a<\/p>\n *\u6ce8\u610f\uff1a\u8fd9\u4e2a\u8282\u70b9\u540d\u9ed8\u8ba4\u4e3axf_asr_offline_node\u800c\u4e0d\u662fvoice_control\uff0c\u5982\u679c\u8981\u6539node name\uff0c\u5219\u5fc5\u987b\u628a\u5176\u4ed6\u7a0b\u5e8f\u4e2d\u8c03\u7528\u672c\u670d\u52a1\u7684\u524d\u7f00\u540c\u65f6\u4fee\u6539\uff0c\u4f8b\u5982xf_asr_offline_node\/get_offline_recognise_result_srv\u8981\u6539\u4e3avoice_control\/get_offline_recognise_result_srv\uff0c\u5426\u5219\u5c06\u4f1a\u8c03\u7528\u5931\u8d25\u3002<\/p>\n<\/div>\n<\/div>\n \u901a\u8fc7launch\/base.launch\u542f\u52a8\uff0c\u53ea\u8d1f\u8d23\u63a7\u5236\u5f55\u97f3\u7684\u4e3b\u52a8\u4f11\u7720\uff08\u6307\u4ee4\u63a7\u5236\uff09\u548c\u88ab\u52a8\u4f11\u7720\uff08\u8fde\u7eed10\u548c\u8bc6\u522b\u5468\u671f\u91cc\u6ca1\u6709\u8bc6\u522b\u5230\u547d\u4ee4\u8bcd\u540e\u81ea\u52a8\u4f11\u7720\uff0c\u9700\u8981\u518d\u6b21\u5524\u9192\uff09\u3002<\/p>\n \u76d1\u542ctopic\uff1a<\/p>\n \u8bf7\u6c42service\uff1a<\/p>\n \u901a\u8fc7launch\/base.launch\u542f\u52a8\uff0c\u4e3b\u8981\u8d1f\u8d23\u6307\u4ee4\u7684\u76d1\u542c\u548c\u5904\u7406\u3002<\/p>\n \u76d1\u542ctopic\uff1a<\/p>\n \u53d1\u5e03topic\uff1a<\/p>\n \u901a\u8fc7launch\/base.launch\u542f\u52a8\uff0c\u8d1f\u8d23\u5e95\u76d8\u79fb\u52a8\u63a7\u5236\u3002<\/p>\n \u76d1\u542ctopic\uff1a<\/p>\n \u53d1\u5e03topic\uff1a<\/p>\n \u901a\u8fc7launch\/base.launch\u542f\u52a8\uff0c\u8d1f\u8d23\u5728\u5e95\u76d8\u79fb\u52a8\u8fc7\u7a0b\u4e2d\uff0c\u4fee\u6b63\u4e3b\u9ea6\u65b9\u5411\u3002<\/p>\n \u6839\u636e\u58f0\u6e90\u8bbe\u7f6e\u4e3b\u9ea6\u540e\u53ef\u4ee5\u8fde\u7eed\u6307\u4ee4\u63a7\u5236\uff0c\u4f46\u5e26\u6765\u7684\u95ee\u9898\u662f\uff0c\u5c0f\u8f66\u662f\u4f1a\u79fb\u52a8\u7684\uff0c\u4e3b\u9ea6\u65b9\u5411\u7684\u53d8\u5316\u53ef\u80fd\u4f1a\u5bfc\u81f4\u6536\u97f3\u6548\u679c\u53d8\u5dee\u3002\u8fd9\u4e2a\u5237\u65b0\u4e3b\u9ea6\u65b9\u5411\u7684\u8282\u70b9\uff0c\u662f\u4e3a\u4e86\u4fdd\u6301\u5c0f\u8f66\u7684\u76f8\u5bf9\u5750\u6807\u4e0b\u7684\u65b9\u5411\uff0c\u4f46\u5e76\u4e0d\u80fd\u4fdd\u6301\u5168\u5c40\u65b9\u5411\u3002\u5982\u8fc7\u51fa\u73b0\u8fc7\u7a0b\u4e2d\u4e3b\u9ea6\u53d1\u751f\u504f\u79bb\uff0c\u53ef\u4ee5\u901a\u8fc7\u91cd\u65b0\u5524\u9192\u8fdb\u884c\u4fee\u6b63\u3002<\/p>\n \u76d1\u542ctopic\uff1a<\/p>\n \u901a\u8fc7launch\/base.launch\u542f\u52a8\uff0c\u4e3b\u8981\u8d1f\u8d23\u5e95\u76d8\u79fb\u52a8\u8282\u70b9\u6307\u4ee4\u5b8c\u6210\u72b6\u6001\u7684\u53cd\u9988\u548c\u8bed\u97f3\u64ad\u62a5\u3002<\/p>\n \u5728\u8ddd\u79bb\u5c0f\u8f66 3 \u7c73\u4ee5\u5185\uff0c\u7528\u81ea\u5b9a\u4e49\u7684\u201c\u5c0f\u732a\u5c0f\u732a\u201d\u6765\u5524\u9192\u5c0f\u8f66\u3002<\/p>\n \u5982\u679c\u5524\u9192\u6210\u529f\uff0c\u7cfb\u7edf\u4f1a\u540c\u65f6\u5b8c\u6210\u4ee5\u4e0b\u52a8\u4f5c\uff1a<\/p>\n \u5728\u4e0a\u4e00\u6b65\u5524\u9192\u6210\u529f\u540e\uff0c\u82e5\u7528\u6237\u4e0d\u53d1\u6307\u4ee4\uff0c\u5373\u9759\u97f3\u72b6\u6001\u4e0b\uff0c\u53ef\u89c2\u5bdf\u5230\u4e3b\u9ea6\u65b9\u5411 LED \u706f\u70b9\u4eae\u7ea6 3.5 \u79d2\u3001\u63a5\u7740\u7184\u706d\u7ea6 0.3 \u79d2\uff0c\u5faa\u73af\u6267\u884c\u3002\u6b64\u65f6\u706f\u4eae\u4ee3\u8868\u5728 LED \u706f\u65b9\u5411\u7684\u4e3b\u9ea6\u88ab\u8bbe\u5b9a\uff0c\u5e76\u4e14\u6b63\u5728\u5f55\u97f3\uff0c\u706f\u706d\u4ee3\u8868\u6b63\u5728\u5904\u7406\u8bc6\u522b\u4fe1\u606f\u5e76\u8f93\u51fa\u5230\u7ec8\u7aef\u3002<\/p>\n \u8fd9\u4e2a\u5e93\u76ee\u524d\u4f7f\u7528\u7684\u662f\u8fb9\u5f55\u97f3\u8fb9\u8bc6\u522b+VAD(Voice Activity Detection)\u7684\u65b9\u5f0f,\u901a\u8fc7 VAD \u6765\u68c0\u6d4b\u97f3\u9891\u7684\u524d\u7aef\u70b9\u548c\u540e\u7aef\u70b9,\u540e\u7aef\u70b9\u5224\u5b9a\u4f9d\u636e\u662f 0.8 \u79d2\u9759\u97f3\u3002\u8fd0\u884c\u65f6\u6709\u4e09\u79cd\u53ef\u80fd\u60c5\u51b5:<\/p>\n \u53d1\u51fa\u63a7\u5236\u6307\u4ee4\u65f6\uff0c\u706f\u706d\u7684 0.3 \u79d2\u5185\u4f1a\u5b8c\u6210\u8bc6\u522b\u7ed3\u679c\u7684\u5904\u7406\uff0c\u5305\u62ec ROS \u7aef\u7684\u901a\u4fe1\u7b49\u3002\u6709\u6548\u8bed\u97f3\u4fe1\u606f\u88ab\u8bc6\u522b\u540e\u4e14\u7ed3\u679c\u7f6e\u4fe1\u5ea6\u5927\u4e8e\u9884\u8bbe\u7684\u9608\u503c(18)\uff0c\u5219\u4f1a\u88ab\u89c6\u4e3a\u6709\u6548\u7ed3\u679c\uff0c\u53d1\u5e03ROS \u8bdd\u9898\u4fe1\u606f\u5e76\u6253\u5370\u5230\u7ec8\u7aef\u4e0a\u3002\u82e5\u672a\u8fdb\u5165\u4f11\u7720\u72b6\u6001\uff0c\u7a0b\u5e8f\u4f1a\u8fdb\u5165\u4e0b\u4e00\u6b21\u5f55\u97f3\u8bc6\u522b\u7684\u5faa\u73af\u3002<\/p>\n \u547d\u4ee4\u8bcd\u914d\u7f6e\u91c7\u7528BNF\u8bed\u6cd5\uff0c\u5177\u4f53\u8be6\u89c1\uff1a\u8bed\u6cd5\u5f00\u53d1\u6307\u5357<\/a>\uff0c\u8fd9\u91cc\u4e0d\u518d\u8d58\u8ff0\u3002<\/p>\n \u9ed8\u8ba4\u8bed\u6cd5\u914d\u7f6e\u6587\u4ef6\u653e\u5728\u4e86config\/call.bnf\u91cc\uff0c<\/span>\u6211\u4eec\u5728\u8fd9\u91cc\u914d\u7f6e\u4e00\u4e2a\u81ea\u5b9a\u4e49\u7684\u63a7\u5236\u6307\u4ee4\u5e76\u8fdb\u884c\u6d4b\u8bd5\uff1a<\/p>\n \u8bc6\u522b\u547d\u4ee4\u8bcd\u4e4b\u540e\u7684\u5904\u7406\u5728command_recognition.cpp\uff0c\u91cc\uff0c\u6211\u4eec\u6dfb\u52a0\u5bf9\u5e94\u7684\u5904\u7406\u903b\u8f91\uff1a<\/p>\n \u547d\u4ee4\u8bcd\u8bc6\u522b\u6d4b\u8bd5\uff1a<\/p>\n \u5c0f\u732a\u53bb\u53a8\u623f\u3001\u5c0f\u732a\u53bb\u5ba2\u5385\u3001\u5c0f\u732a\u6765\u6c99\u53d1\u8fd9\u513f<\/p>\n![\"\"](\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/02\/mic.png\")
<\/a><\/p>\n\n
\n\u964d\u566a\u97f3\u9891:\u91c7\u6837\u7387 16khz,16bit,\u4e3a\u4e00\u901a\u9053;
\n\u539f\u59cb\u97f3\u9891:\u91c7\u6837\u7387 16khz,32bit,\u4e3a\u516b\u901a\u9053,\u5176\u4e2d 1-6 \u901a\u9053\u5bf9\u5e94 6 \u4e2a\u9ea6\u514b\u98ce,7-8 \u662f\u53c2\u8003\u4fe1\u53f7;<\/li>\n2.\u8fde\u7ebf\u65b9\u6cd5<\/h2>\n
\n
<\/a><\/p>\n\u4e09\u3001\u73af\u5883\u51c6\u5907<\/span><\/h1>\n
1.\u4e0b\u8f7d\u79bb\u7ebf\u8bed\u97f3SDK<\/h2>\n
\n
2.\u914d\u7f6e\u9ea6\u514b\u98ce\u9635\u5217\u5e93<\/h2>\n
# \u9ea6\u514b\u98ce\u9635\u5217\u5e93\r\ncd ~\/catkin_ws\/src\r\ngit clone git@github.com:yanjingang\/xf_mic_asr_offline.git\r\ncd xf_mic_asr_offline\r\n# \u62f7\u8d1d.so\u52a8\u6001\u5e93\r\nsudo cp lib\/x64\/* \/usr\/lib\/\r\n#sudo cp lib\/arm64\/* \/usr\/lib\/\r\n# \u66ff\u6362APPID\u4e3a\u4e0a\u4e00\u90e8\u6b65\u81ea\u5df1\u6ce8\u518c\u7684appid\r\nvim config\/appid_params.yaml\r\n# \u914d\u7f6e udev \u89c4\u5219\r\nsudo cp xf_mic.rules \/etc\/udev\/rules.d\/\r\nsudo service udev restart\r\n# \u66f4\u65b0\u5e93\u91cc\u7684\u79d1\u5927\u8fc5\u98de\u79bb\u7ebf\u8bed\u97f3SDK *.jet\u6587\u4ef6(\u8fd9\u4e9b\u6587\u4ef6\u5185\u90e8\u4e0eappid\u7ed1\u5b9a\u4e86\uff0c\u5fc5\u987b\u540c\u6b65\u66ff\u6362)\r\ncd ~\/linux_sdk\r\ncp bin\/msc\/res\/asr\/common.jet ~\/catkin_ws\/src\/xf_mic_asr_offline\/config\/msc\/res\/asr\/\r\ncp -r bin\/msc\/res\/tts bin\/msc\/res\/ivw bin\/msc\/res\/xtts ~\/catkin_ws\/src\/xf_mic_asr_offline\/config\/msc\/res\/<\/code><\/pre>\n3.\u5b89\u88c5\u58f0\u5361\u548c\u8bed\u97f3\u64ad\u653e\u5e93<\/h2>\n
# \u5b89\u88c5\u58f0\u5361\u9a71\u52a8\u548c\u8bed\u97f3\u5e93\r\n
sudo apt-get install libasound2-dev sox mplayer\r\n# \u63d2\u4e0a\u9ea6\u514b\u98ceUSB\u53e3\uff0c\u68c0\u67e5\u8bbe\u5907\u662f\u5426\u6b63\u5e38\u8bc6\u522b\r\nlsusb|grep 10d6:b003<\/code><\/pre>\n4.\u6d4b\u8bd5Linux SDK<\/h2>\n
# \u7f16\u8bd1\u8bed\u97f3\u8bc6\u522b\u793a\u4f8b\r\ncd ~\/linux_sdk\r\ncd samples\/asr_offline_record_sample\r\nsh 64bit_make.sh\r\n# \u8fd0\u884c\u6d4b\u8bd5\r\ncd ~\/linux_sdk\/bin\r\n.\/asr_offline_record_sample\r\n<\/code><\/span><\/pre>\n5.\u6d4b\u8bd5ROS\u5e93<\/h2>\n
# \u4fee\u6539\u7f16\u8bd1\u5e73\u53f0\u914d\u7f6e\r\nvim ~\/catkin_ws\/src\/xf_mic_asr_offline\/CMakeLists.txt\r\n link_directories(\r\n lib\/x64 \r\n # lib\/arm64 \r\n )\r\n\r\n# \u7f16\u8bd1\r\ncd ~\/catkin_ws\r\nrm -rf build devel\r\ncatkin_make\r\nsource ~\/catkin_ws\/devel\/setup.bash\r\n# \u5f00\u542f\u8bed\u97f3\u63a7\u5236\u5e95\u5c42\u3001\u5bfc\u822a\u3001\u96f7\u8fbe\u626b\u63cf\u8282\u70b9\r\nroslaunch xf_mic_asr_offline base.launch\r\n# \u5f00\u542f\u9ea6\u514b\u98ce\u9635\u5217\u521d\u59cb\u5316\u8282\u70b9\uff08\u542f\u52a8\u5931\u8d25\u9519\u8bef\u7801\u8bf4\u660e\uff1ahttps:\/\/shimo.im\/sheet\/w3yUy39uNKs0J7DT\uff09\r\nroslaunch xf_mic_asr_offline mic_init.launch\r\n# \u8c03\u6574\u58f0\u5361\u97f3\u91cf\r\nalsamixer\r\n# \u901a\u8fc7\u201c\u4f60\u597d\u6653\u5fae\u201d\u5524\u9192<\/code><\/pre>\n<\/a><\/p>\n<\/a><\/p>\n\u56db<\/span>\u3001\u4ee3\u7801\u89e3\u8bfb<\/span><\/h1>\n
<\/a><\/p>\n1.SDK\u4e3b\u63a7\u7a0b\u5e8fvoice_control.cpp<\/h2>\n
\n
\n
2.\u5f55\u97f3\u8c03\u7528\u63a7\u5236\u5668call_recognition.cpp<\/h2>\n
\n
\n
3.\u547d\u4ee4\u63a7\u5236\u5668command_recognition.cpp<\/h2>\n
\n
\n
4.\u5e95\u76d8\u8fd0\u52a8\u63a7\u5236\u5668motion_control.cpp<\/h2>\n
\n
\n
5.\u4e3b\u9ea6\u52a8\u6001\u5207\u6362refresh_mic.cpp<\/h2>\n
<\/a><\/p>\n\n
6.\u8282\u70b9\u72b6\u6001\u53cd\u9988node_feedback.cpp<\/h2>\n
<\/h1>\n
\u4e94<\/span>\u3001\u529f\u80fd\u8c03\u8bd5<\/span><\/h1>\n
1.\u81ea\u5b9a\u4e49\u5524\u9192\u8bcd<\/h2>\n
# \u81ea\u5b9a\u4e49\u548c\u5524\u9192\u8bcd\r\nvim ~\/catkin_ws\/src\/xf_mic_asr_offline\/include\/user_interface.h\r\n char awake_words[30] = \"\u5c0f\u732a\u5c0f\u732a\"; \r\n\r\n# \u7f16\u8bd1\r\ncd ~\/catkin_ws\r\ncatkin_make\r\nsource ~\/catkin_ws\/devel\/setup.bash\r\n\r\n# \u8fd0\u884c\u6d4b\u8bd5\r\nroslaunch xf_mic_asr_offline base.launch\r\nroslaunch xf_mic_asr_offline mic_init.launch<\/code><\/pre>\n\n
<\/a><\/h2>\n<\/a><\/h2>\n2.\u81ea\u5b9a\u4e49\u63a7\u5236\u547d\u4ee4\u8bcd<\/h2>\n
2.1 \u8bc6\u522b\u65f6\u673a<\/h3>\n
\n
2.2 \u81ea\u5b9a\u4e49\u547d\u4ee4\u8bcd<\/h3>\n
#BNF+IAT 1.0 UTF-8;\r\n\r\n\/\/ \u5b9a\u4e49\u8bed\u6cd5\u540d\u79f0\u4e3acall\r\n!grammar call;\r\n\r\n\/\/ \u58f0\u660eaction\u8bcd\u69fd\r\n!slot <action>;\r\n\r\n\/\/ \u5b9a\u4e49\u5f00\u59cb\u89c4\u5219\uff0c\u540c\u65f6\u58f0\u660eaction\u8bcd\u69fd\r\n!start <callstart>;\r\n\r\n\/\/ \u8bcd\u69fd\u5b9a\u4e49\r\n<callstart>:(\u5c0f\u732a|\u5173\u95ed|\u6253\u5f00|\u5f00\u59cb)<choose>;\r\n<choose>:<action>|<navigation>|<turn>;\r\n<action>:\u524d\u8fdb|\u540e\u9000|\u505c|\u8fc7\u6765|\u4f11\u7720|\u81ea\u4e3b\u5efa\u56fe|\u5bfc\u822a;\r\n<navigation>:(\u53bb|\u6765)(\u53a8\u623f|\u5ba2\u5385|\u6c99\u53d1|\u9910\u684c|\u4e3b\u5367|\u6b21\u5367\u5ba4|\u5395\u6240)[\u8fd9\u513f|\u8fd9\u91cc];\r\n<turn>:(\u5de6|\u53f3)\u8f6c;<\/code><\/pre>\n\/**************************************************************************\r\n\u51fd\u6570\u529f\u80fd\uff1a\u79bb\u7ebf\u547d\u4ee4\u8bcd\u8bc6\u522b\u7ed3\u679csub\u56de\u8c03\u51fd\u6570\r\n\u5165\u53e3\u53c2\u6570\uff1a\u547d\u4ee4\u8bcd\u5b57\u7b26\u4e32 voice_control.cpp\u7b49\r\n\u8fd4\u56de \u503c\uff1a\u65e0\r\n**************************************************************************\/\r\nvoid voice_words_callback(const std_msgs::String& msg)\r\n{\r\n\t\/***\u6307\u4ee4***\/\r\n\tstring str1 = msg.data.c_str(); \/\/\u53d6\u4f20\u5165\u6570\u636e\r\n\r\n\t...\r\n\t\r\n\t\/***********************************\r\n\t\u6307\u4ee4\uff1a\u5c0f\u8f66\u53bb\u53a8\u623f\r\n\t\u52a8\u4f5c\uff1a\u5e95\u76d8\u8fd0\u52a8\u63a7\u5236\u5668\u5931\u80fd(\u5bfc\u822a\u63a7\u5236)\uff0c\u53d1\u5e03\u76ee\u6807\u70b9\r\n\t***********************************\/\r\n\telse if(str1 == \"\u5c0f\u732a\u53bb\u53a8\u623f\")\r\n\t{\r\n\t\ttarget.pose.position.x = kitchen_position_x;\r\n\t\ttarget.pose.position.y = kitchen_position_y;\r\n\t\ttarget.pose.orientation.z = kitchen_orientation_z;\r\n\t\ttarget.pose.orientation.w =kitchen_orientation_w;\r\n\t\tnavigation_auto_pub.publish(target);\r\n\t}\r\n\t\/***********************************\r\n\t\u6307\u4ee4\uff1a\u5c0f\u732a\u53bb\u5ba2\u5385\r\n\t\u52a8\u4f5c\uff1a\u5e95\u76d8\u8fd0\u52a8\u63a7\u5236\u5668\u5931\u80fd(\u5bfc\u822a\u63a7\u5236)\uff0c\u53d1\u5e03\u76ee\u6807\u70b9\r\n\t***********************************\/\r\n\telse if(str1 == \"\u5c0f\u732a\u53bb\u5ba2\u5385\")\r\n\t{\r\n\t\ttarget.pose.position.x = livingroom_position_x;\r\n\t\ttarget.pose.position.y = livingroom_position_y;\r\n\t\ttarget.pose.orientation.z = livingroom_orientation_z;\r\n\t\ttarget.pose.orientation.w = livingroom_orientation_w;\r\n\t\tnavigation_auto_pub.publish(target);\r\n\t}\r\n\t\/***********************************\r\n\t\u6307\u4ee4\uff1a\u5c0f\u732a\u6765\u6c99\u53d1\u8fd9\u513f\r\n\t\u52a8\u4f5c\uff1a\u5e95\u76d8\u8fd0\u52a8\u63a7\u5236\u5668\u5931\u80fd(\u5bfc\u822a\u63a7\u5236)\uff0c\u53d1\u5e03\u76ee\u6807\u70b9\r\n\t***********************************\/\r\n\telse if(str1 == \"\u5c0f\u732a\u6765\u6c99\u53d1\u8fd9\u513f\")\r\n\t{\r\n\t\ttarget.pose.position.x = sofa_position_x;\r\n\t\ttarget.pose.position.y = sofa_position_y;\r\n\t\ttarget.pose.orientation.z = sofa_orientation_z;\r\n\t\ttarget.pose.orientation.w = sofa_orientation_w;\r\n\t\tnavigation_auto_pub.publish(target);\r\n\t}\r\n\r\n\tstd_msgs::Int8 cmd_vel_flag_msg;\r\n\tcmd_vel_flag_msg.data = 0;\r\n\tcmd_vel_flag_pub.publish(cmd_vel_flag_msg);\r\n\r\n\tstd_msgs::Int8 goal_control_flag_msg;\r\n\tgoal_control_flag_msg.data = 1;\r\n\tgoal_control_pub.publish(goal_control_flag_msg);\r\n\tOTHER = (char*) \"\/feedback_voice\/OK.wav\";\r\n\tWHOLE = join((head + audio_path),OTHER);\r\n\tsystem(WHOLE);\r\n\tcout<<\"\u597d\u7684\uff1a\u5c0f\u8f66\u81ea\u4e3b\u5bfc\u822a\u53bb\u5f80\u76ee\u6807\u70b9\"<<endl;\r\n\r\n\t...\r\n\t\r\n}\r\n\r\n\/**************************************************************************\r\n\u51fd\u6570\u529f\u80fd\uff1a\u4e3b\u51fd\u6570\r\n\u5165\u53e3\u53c2\u6570\uff1a\u65e0\r\n\u8fd4\u56de \u503c\uff1a\u65e0\r\n**************************************************************************\/\r\nint main(int argc, char** argv)\r\n{\r\n\t...\r\n\tn.param<float>(\"\/kitchen_position_x\", kitchen_position_x, 1);\r\n\t...\r\n}<\/code><\/pre>\n