将snowboy唤醒节点添加到/voice_system命名空间下,可以与话题命名空间相同

catkin_ws/src/snowboy_wakeup/launch/snowboy_wakeup.launch

@@ -1,8 +1,9 @@
 <launch>
     <arg name="ASR_Topic" default="/voice_system/asr_topic" />
     <arg name="AUDIO_Topic" default="/voice_system/audio_data" />
+    <arg name="namespace" default="voice_system" />
 
-    <node name="audio_capture" pkg="audio_capture" type="audio_capture" output="screen" required="true">
+    <node ns="$(arg namespace)" name="audio_capture" pkg="audio_capture" type="audio_capture" output="screen" required="true">
         <param name="format" value="wave" />
         <param name="channels" value="1" />
         <param name="depth" value="16" />
@@ -11,7 +12,7 @@
         <remap from="audio" to="$(arg AUDIO_Topic)" />
     </node>
 
-    <node pkg="snowboy_wakeup" type="hotword_detector_node" name="snowboy_wakeup" respawn="true">
+    <node ns="$(arg namespace)" pkg="snowboy_wakeup" type="hotword_detector_node" name="snowboy_wakeup" respawn="true">
         <param name="resource_filename" value="$(find snowboy_wakeup)/resources/common.res" />
         <param name="model_filename" value="$(find snowboy_wakeup)/resources/snowboy.umdl" />
         <param name="beep_filename" value="$(find snowboy_wakeup)/resources/ding.wav" />