优化snowboy唤醒代码

catkin_ws/src/snowboy_wakeup/CMakeLists.txt

@@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
     dynamic_reconfigure
 )
 
-set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules)
 
 find_package(BLAS)
@@ -16,13 +16,6 @@ find_package(BLAS)
 #                                     ROS MESSAGES AND SERVICES
 # ------------------------------------------------------------------------------------------------
 
-# Generate messages
-# add_message_files(
-#    FILES
-#    message1.msg
-#    ...
-# )
-
 # Generate services
 # add_service_files(
 #    FILES
@@ -46,7 +39,6 @@ generate_dynamic_reconfigure_options(
 # ------------------------------------------------------------------------------------------------
 #                                          CATKIN EXPORT
 # ------------------------------------------------------------------------------------------------
-
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES hotword_detector
@@ -57,7 +49,6 @@ catkin_package(
 # ------------------------------------------------------------------------------------------------
 #                                              BUILD
 # ------------------------------------------------------------------------------------------------
-
 include_directories(
     include
     3rdparty

catkin_ws/src/snowboy_wakeup/launch/snowboy_wakeup.launch

@@ -18,5 +18,6 @@
         <param name="sensitivity_str" value="0.5" type="str" />
         <param name="audio_gain" value="1.0" />
         <param name="asr_topic" value="$(arg ASR_Topic)" />
+        <param name="audio_topic" value="$(arg AUDIO_Topic)" />
     </node>
 </launch>

catkin_ws/src/snowboy_wakeup/package.xml

@@ -2,7 +2,7 @@
 <package>
   <name>snowboy_wakeup</name>
   <version>0.0.0</version>
-  <description>snowboy make hotword detector</description>
+  <description>snowboy hotword detector</description>
 
   <maintainer email="corvin_zhang@corvin.cn">corvin</maintainer>
 
@@ -13,5 +13,4 @@
   <build_depend>libblas-dev</build_depend>
   <build_depend>audio_common_msgs</build_depend>
   <run_depend>audio_common_msgs</run_depend>
-
 </package>

catkin_ws/src/snowboy_wakeup/src/hotword_detector_node.cpp

@@ -1,10 +1,9 @@
 #include <ros/ros.h>
-#include <audio_common_msgs/AudioData.h>
 #include <std_msgs/Int32.h>
-
+#include <audio_common_msgs/AudioData.h>
 #include <dynamic_reconfigure/server.h>
 #include <snowboy_wakeup/SnowboyReconfigureConfig.h>
-#include <snowboy_wakeup/hotword_detector.h>
+#include <hotword_detector.h>
 
 #include <boost/filesystem.hpp>