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@@ -1,25 +1,41 @@
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+<!--
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+Copyright: 2016-2019 wwww.corvin.cn ROS小课堂
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+Author: corvin
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+Description:
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+ 该启动文件是snowboy唤醒的启动文件,将启动两个节点分别是arduio_capture,
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+ 用于从麦克风获取音频数据,并将数据发送到指定的话题上.启动的snowboy_wakeup
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+ 节点就是订阅麦克风数据,取出后然后进行检查音频数据中是否存在指定的唤醒词.
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+ 当检测到唤醒词就往指定的话题中发送一条唤醒成功的消息.后续的其他流程,可以
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+ 订阅该唤醒成功的话题,当发现话题中有指定的唤醒成功消息,就可以得知系统被成
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+ 功唤醒了,这样就可以进行后续的其他语音处理流程了.
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+History:
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+ 20191009:init this file.
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+-->
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<launch>
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- <arg name="WAKEUP_Topic" default="/voice_system/wakeup_topic" />
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- <arg name="AUDIO_Topic" default="/voice_system/audio_data" />
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<arg name="namespace" default="voice_system" />
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+ <arg name="AUDIO_Topic" default="audio_data" />
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+ <arg name="WAKEUP_Topic" default="wakeup_topic" />
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- <node ns="$(arg namespace)" name="audio_capture" pkg="audio_capture" type="audio_capture" output="screen" required="true">
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- <param name="format" value="wave" />
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- <param name="channels" value="1" />
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- <param name="depth" value="16" />
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- <param name="sample_rate" value="16000" />
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+ <group ns="$(arg namespace)">
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+ <node name="audio_capture" pkg="audio_capture" type="audio_capture" output="screen" required="true">
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+ <param name="format" value="wave" />
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+ <param name="channels" value="1" />
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+ <param name="depth" value="16" />
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+ <param name="sample_rate" value="16000" />
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- <remap from="audio" to="$(arg AUDIO_Topic)" />
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- </node>
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+ <remap from="audio" to="$(arg AUDIO_Topic)" />
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+ </node>
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- <node ns="$(arg namespace)" pkg="snowboy_wakeup" type="hotword_detector_node" name="snowboy_wakeup" respawn="true">
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- <param name="resource_filename" value="$(find snowboy_wakeup)/resources/common.res" />
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- <param name="model_filename" value="$(find snowboy_wakeup)/resources/snowboy.umdl" />
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- <param name="beep_filename" value="$(find snowboy_wakeup)/resources/ding.wav" />
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+ <node pkg="snowboy_wakeup" type="hotword_detector_node" name="snowboy_wakeup" respawn="true">
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+ <param name="resource_filename" value="$(find snowboy_wakeup)/resources/common.res" />
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+ <param name="model_filename" value="$(find snowboy_wakeup)/resources/snowboy.umdl" />
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+ <param name="beep_filename" value="$(find snowboy_wakeup)/resources/ding.wav" />
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- <param name="sensitivity_str" value="0.7" />
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- <param name="audio_gain" value="1.0" />
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- <param name="wakeup_topic" value="$(arg WAKEUP_Topic)" />
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- <param name="audio_topic" value="$(arg AUDIO_Topic)" />
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- </node>
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+ <param name="sensitivity_str" value="0.7" />
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+ <param name="audio_gain" value="1.0" />
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+ <param name="wakeup_topic" value="$(arg WAKEUP_Topic)" />
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+ <param name="audio_topic" value="$(arg AUDIO_Topic)" />
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+ </node>
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+ </group>
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</launch>
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+
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