ROS baidu_speech 语音控制

安装ros baidu speech包 ： 

1、在 ros工作空间下 git  clone  https://github.com/DinnerHowe/baidu_speech.git

2、cd 工作空间

3、catkin_make

4、安装依赖pyaudio 、python-vlc

sudo apt-get install python-pyaudio  (sudo pip install pyaudio)

sudo pip install python-vlc

5、更新包

source ~/catkin_ws/devel/setup.bash

rospack profile

rospack find TestRosNode

6、运行roslaunch baidu_speech simple_voice.launch

报错ImportError: No module named requests

解决：

Requests is not a built in module, so you will have to download it. You can get it here:https://pypi.python.org/pypi/requests

$ sudo pip install requests

报错
requests.exceptions.InvalidHeader:Value for header{Content-length:37523} must be of type str or bytes, not <type 'int'>
解决
voice_node.py修改

1. HTTP_HEADER=          {  'Content-Type':      'audio/%s;rate=%s'%(self.FORMAT,self.SAMPLING_RATE),  
2.                            'Content-length':    len(json.dumps(RegData))}  
3.   
4. #改为  
5. HTTP_HEADER=          {  'Content-Type':      'audio/%s;rate=%s'%(self.FORMAT,self.SAMPLING_RATE),  
6.                            'Content-length':    str(len(json.dumps(RegData)))}  

参考blog ：https://blog.csdn.net/qq_38288618/article/details/79057965

百度语音注册账号 http://yuyin.baidu.com/  获取REG_USER_ID REG_Api_Key REG_Secrect_Key。