55 lines
1.8 KiB
Python
55 lines
1.8 KiB
Python
from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import SetEnvironmentVariable, RegisterEventHandler
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from launch.event_handlers import OnProcessExit
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from launch.actions import EmitEvent
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from launch.events import Shutdown
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import os
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def generate_launch_description():
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"""启动声纹注册节点（需要ASR服务）"""
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# 获取interfaces包的install路径
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interfaces_install_path = os.path.expanduser('~/ros_learn/hivecore_robot_interfaces/install')
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# 设置AMENT_PREFIX_PATH，确保能找到interfaces包的消息类型
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ament_prefix_path = os.environ.get('AMENT_PREFIX_PATH', '')
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if interfaces_install_path not in ament_prefix_path:
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if ament_prefix_path:
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ament_prefix_path = f'{ament_prefix_path}:{interfaces_install_path}'
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else:
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ament_prefix_path = interfaces_install_path
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# ASR + 音频输入设备节点（提供ASR和AudioData服务）
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asr_audio_node = Node(
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package='robot_speaker',
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executable='asr_audio_node',
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name='asr_audio_node',
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output='screen'
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)
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# 声纹注册节点
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register_speaker_node = Node(
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package='robot_speaker',
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executable='register_speaker_node',
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name='register_speaker_node',
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output='screen'
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)
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# 当注册节点退出时，关闭整个 launch
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register_exit_handler = RegisterEventHandler(
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OnProcessExit(
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target_action=register_speaker_node,
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on_exit=[
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EmitEvent(event=Shutdown(reason='注册完成，关闭所有节点'))
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]
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)
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)
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return LaunchDescription([
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SetEnvironmentVariable('AMENT_PREFIX_PATH', ament_prefix_path),
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asr_audio_node,
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register_speaker_node,
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register_exit_handler,
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])
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