update @huiyu

package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robot_speaker</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="mzebra@foxmail.com">mzebra</maintainer>
+  <license>Apache-2.0</license>
+
+  <depend>rclpy</depend>
+  <depend>example_interfaces</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

robot_speaker/robot_speaker_node.py

@@ -0,0 +1,55 @@
+import rclpy
+from rclpy.node import Node
+from example_interfaces.msg import String
+import threading
+from queue import Queue
+import time
+import espeakng
+import pyttsx3
+
+
+class RobotSpeakerNode(Node):
+    def __init__(self, node_name):
+        super().__init__(node_name)
+        self.novels_queue_ = Queue()
+        self.novel_subscriber_ = self.create_subscription(
+            String, 'robot_msg', self.novel_callback, 10)
+        self.speech_thread_ = threading.Thread(target=self.speak_thread)
+        self.speech_thread_.start()
+
+    def novel_callback(self, msg):
+        self.novels_queue_.put(msg.data)
+
+    def speak_thread(self):
+        # 初始化引擎
+        engine = pyttsx3.init()
+        # 调整参数
+        engine.setProperty('rate', 150)  # 语速（150更自然）
+        engine.setProperty('volume', 1.0)  # 音量（0.0-1.0）
+        
+        # 选择中文音色（修正：使用 languages 属性，且是列表）
+        voices = engine.getProperty('voices')
+        for voice in voices:
+            # 检查语音支持的语言列表中是否包含中文（'zh' 或 'zh-CN' 等）
+            if any('zh' in lang for lang in voice.languages):
+                engine.setProperty('voice', voice.id)
+                self.get_logger().info(f'已选择中文语音：{voice.id}')
+                break
+        else:
+            self.get_logger().warning('未找到中文语音库，将使用默认语音')
+        
+        while rclpy.ok():
+            if self.novels_queue_.qsize() > 0:
+                text = self.novels_queue_.get()
+                engine.say(text)
+                engine.runAndWait()  # 等待语音播放完成
+            else:
+                time.sleep(0.5)
+
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = RobotSpeakerNode("robot_speaker_node")
+    rclpy.spin(node)
+    rclpy.shutdown()

setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/robot_speaker
+[install]
+install_scripts=$base/lib/robot_speaker

setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'robot_speaker'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='mzebra',
+    maintainer_email='mzebra@foxmail.com',
+    description='TODO: Package description',
+    license='Apache-2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'robot_speaker_node=robot_speaker.robot_speaker_node:main'
+        ],
+    },
+)