更新唤醒后的话题名为wakeup_topic

catkin_ws/src/snowboy_wakeup/launch/snowboy_wakeup.launch

@@ -1,5 +1,5 @@
 <launch>
-    <arg name="ASR_Topic" default="/voice_system/asr_topic" />
+    <arg name="WAKEUP_Topic" default="/voice_system/wakeup_topic" />
     <arg name="AUDIO_Topic" default="/voice_system/audio_data" />
     <arg name="namespace" default="voice_system" />
 
@@ -17,9 +17,9 @@
         <param name="model_filename" value="$(find snowboy_wakeup)/resources/snowboy.umdl" />
         <param name="beep_filename" value="$(find snowboy_wakeup)/resources/ding.wav" />
 
-        <param name="sensitivity_str" value="0.7" type="str" />
+        <param name="sensitivity_str" value="0.7" />
         <param name="audio_gain" value="1.0" />
-        <param name="asr_topic" value="$(arg ASR_Topic)" />
+        <param name="wakeup_topic" value="$(arg WAKEUP_Topic)" />
         <param name="audio_topic" value="$(arg AUDIO_Topic)" />
     </node>
 </launch>

catkin_ws/src/snowboy_wakeup/src/hotword_detector_node.cpp

@@ -47,10 +47,10 @@ namespace snowboy_wakeup
                 }
                 all_param = pre_param + beep_filename;
 
-                std::string asr_topic;
-                if (!nh_p_.getParam("asr_topic", asr_topic))
+                std::string wakeup_topic;
+                if (!nh_p_.getParam("wakeup_topic", wakeup_topic))
                 {
-                    ROS_ERROR("Mandatory parameter 'asr_topic' not present on the parameter server");
+                    ROS_ERROR("Mandatory parameter 'wakeup_topic' not present on the parameter server");
                     return false;
                 }
 
@@ -62,7 +62,7 @@ namespace snowboy_wakeup
                 }
 
                 audio_sub_ = nh_.subscribe(audio_topic, 1000, &HotwordDetectorNode::audioCallback, this);
-                hotword_pub_ = nh_.advertise<std_msgs::Int32>(asr_topic, 1);
+                hotword_pub_ = nh_.advertise<std_msgs::Int32>(wakeup_topic, 1);
 
                 detector_.initialize(resource_filename.c_str(), model_filename.c_str());
                 dynamic_reconfigure_server_.setCallback(boost::bind(&HotwordDetectorNode::reconfigureCallback, this, _1, _2));
@@ -143,7 +143,6 @@ namespace snowboy_wakeup
                 }
             }
     };
-
 }
 
 //click btn ISR function