audio_demos

//ros msg、srv接口
#include "protocol/srv/audio_execute.hpp"
#include "protocol/srv/audio_text_play.hpp"
#include "protocol/msg/audio_play_extend.hpp"

//ros msg、srv接口
#include "protocol/srv/audio_execute.hpp"
#include "protocol/msg/audio_status.hpp"

//ros msg、srv接口
#include "std_srvs/srv/trigger.hpp"
#include "std_msgs/msg/u_int8.hpp"

//ros msg、srv接口
#include "std_msgs/msg/string.hpp"

#docker终端cyberdog_ws目录
mkdir -p audio_install/lib
mkdir -p audio_install/share
cp /opt/ros2/cyberdog/lib/audio_demos audio_install/lib
cp /opt/ros2/cyberdog/share/audio_demos audio_install/share
#本地终端cyberdog_ws目录
scp -r audio_install mi@192.168.55.1:/home/mi
#狗上终端/home/mi目录
cp -rf audio_install/lib /opt/ros2/cyberdog/lib
cp -rf audio_install/share /opt/ros2/cyberdog/share
sudo rm -rf audio_install

source /opt/ros2/cyberdog/setup.bash

#运行talker,运行后将听到狗发出一段语音（此demo需要联外网，外网不可用情况请情况请切换到离线语音）
ros2 run audio_demos talker --ros-args -r __ns:=/`ros2 node list | grep "mi_" | head -n 1 | cut -f 2 -d "/"

#运行set_mic，运行后audio进入normal模式，可在代码中修改进入offmic模式
ros2 run audio_demos set_mic --ros-args -r __ns:=/`ros2 node list | grep "mi_" | head -n 1 | cut -f 2 -d "/"

#运行set_voice，运行后将音量设置成50;可以根据唤醒机器狗，从语音上进行感受
ros2 run audio_demos set_voice --ros-args -r __ns:=/`ros2 node list | grep "mi_" | head -n 1 | cut -f 2 -d "/"

#运行set_waken_words ，运行后唤醒词修改为”旺财旺财“
ros2 run audio_demos set_waken_words --ros-args -r __ns:=/`ros2 node list | grep "mi_" | head -n 1 | cut -f 2 -d "/`
"