47 lines
1.5 KiB
Python
47 lines
1.5 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
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import os
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def generate_launch_description():
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"""启动语音交互节点，所有参数从 voice.yaml 读取"""
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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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return LaunchDescription([
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SetEnvironmentVariable('AMENT_PREFIX_PATH', ament_prefix_path),
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# ASR + 音频输入设备节点（同时提供VAD事件Service，利用云端ASR的VAD）
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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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# TTS + 音频输出设备节点
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Node(
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package='robot_speaker',
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executable='tts_audio_node',
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name='tts_audio_node',
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output='screen'
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),
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# 主业务逻辑节点
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Node(
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package='robot_speaker',
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executable='robot_speaker_node',
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name='robot_speaker_node',
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output='screen'
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),
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])
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