ros中用c++连续导航到达五个地点,每到达一个地点后用tts语音播报对应的地点名和地点介绍词
时间: 2023-06-15 09:06:42 浏览: 61
实现这个功能需要用到ROS的导航功能包和TTS语音合成功能包。以下是实现的基本步骤:
1. 安装ROS导航功能包和TTS语音合成功能包。
2. 创建一个ROS节点,用来控制导航和TTS语音合成功能。
3. 在ROS中设置五个地点的坐标,并将其保存在一个列表中。
4. 使用ROS导航功能包中提供的API,控制机器人依次导航到五个地点。
5. 在机器人到达每个地点时,使用TTS语音合成功能包中提供的API,播报对应的地点名和地点介绍词。
下面是一个简单的实现代码,仅供参考:
```c++
#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <sound_play/sound_play.h>
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "navigation_tts");
// 创建ROS节点句柄
ros::NodeHandle nh;
// 创建TTS语音播报对象
sound_play::SoundClient sc;
// 创建导航客户端
MoveBaseClient ac("move_base", true);
// 等待导航服务器启动
while(!ac.waitForServer(ros::Duration(5.0)))
{
ROS_INFO("Waiting for the move_base action server to come up");
}
// 设置五个地点的坐标
std::vector<geometry_msgs::Pose> goal_poses;
geometry_msgs::Pose pose1, pose2, pose3, pose4, pose5;
pose1.position.x = 1.0;
pose1.position.y = 1.0;
pose1.orientation.w = 1.0;
goal_poses.push_back(pose1);
pose2.position.x = 2.0;
pose2.position.y = 2.0;
pose2.orientation.w = 1.0;
goal_poses.push_back(pose2);
pose3.position.x = 3.0;
pose3.position.y = 3.0;
pose3.orientation.w = 1.0;
goal_poses.push_back(pose3);
pose4.position.x = 4.0;
pose4.position.y = 4.0;
pose4.orientation.w = 1.0;
goal_poses.push_back(pose4);
pose5.position.x = 5.0;
pose5.position.y = 5.0;
pose5.orientation.w = 1.0;
goal_poses.push_back(pose5);
// 导航到五个地点
for(int i = 0; i < goal_poses.size(); i++)
{
// 设置导航目标
move_base_msgs::MoveBaseGoal goal;
goal.target_pose.header.frame_id = "map";
goal.target_pose.header.stamp = ros::Time::now();
goal.target_pose.pose = goal_poses[i];
// 发送导航目标
ROS_INFO("Sending goal %d", i+1);
ac.sendGoal(goal);
// 等待机器人到达导航目标
ac.waitForResult();
// 播报地点名和地点介绍词
std::string location_name;
std::string location_intro;
switch(i)
{
case 0:
location_name = "地点1";
location_intro = "这里是地点1的介绍词";
break;
case 1:
location_name = "地点2";
location_intro = "这里是地点2的介绍词";
break;
case 2:
location_name = "地点3";
location_intro = "这里是地点3的介绍词";
break;
case 3:
location_name = "地点4";
location_intro = "这里是地点4的介绍词";
break;
case 4:
location_name = "地点5";
location_intro = "这里是地点5的介绍词";
break;
}
sc.say(location_name);
ros::Duration(5).sleep();
sc.say(location_intro);
ros::Duration(5).sleep();
}
return 0;
}
```