以上节tts语音输出为例
下载sdk链接：http://www.xfyun.cn/sdk/dispatcher
1、下载SDK，解压；
2、在ROS工作空间下创建一个Package；
catkin_create_pkg tts_voice roscpp rospy std_msgs
3、将SDK文件夹中的头文件，即下载的SDK文件夹中include文件夹下的 .h文件拷贝至tts_voice/include/下；
4、将SDK文件夹中sample/tts_sample中的xf_tts.cpp文件拷贝至tts_voice/src/下；
5、将SDK文件夹中libs/x64/libmsc.so文件拷贝至/user/libs/下；
6、打开CMakelist，
1）修改include_directories为：即包括拷贝的头文件所在的include目录
include_directories(
${catkin_INCLUDE_DIRS}
include
)
2）添加：
add_executable(tts_voice_node src/xf_tts.cpp)
target_link_libraries(tts_voice_node
${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread
)
# 生成可执行文件
#
添加链接库，其中动态链接库路径按实际修改
CmakeLists.txt
cmake_minimum_required(VERSION 2.8.)
project(tts_voice) ## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES tts_voice
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
) ###########
## Build ##
########### ## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
include
) ## Declare a C++ executable
add_executable(tts_voice_node src/xf_tts.cpp) ## Specify libraries to link a library or executable target against
target_link_libraries(tts_voice_node
${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread
)
xf_tts.cpp源文件
/*
* 语音合成（Text To Speech，TTS）技术能够自动将任意文字实时转换为连续的
* 自然语音，是一种能够在任何时间、任何地点，向任何人提供语音信息服务的
* 高效便捷手段，非常符合信息时代海量数据、动态更新和个性化查询的需求。
*/
#include <ros/ros.h>
#include "std_msgs/String.h" #include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h> #include "qtts.h"
#include "msp_cmn.h"
#include "msp_errors.h" const char* FileName = "/home/cam/Music/voice.wav";
const char* PlayPath = "play /home/cam/Music/voice.wav"; /* wav音频头部格式 */
typedef struct _wave_pcm_hdr
{
char riff[]; // = "RIFF"
int size_8; // = FileSize - 8
char wave[]; // = "WAVE"
char fmt[]; // = "fmt "
int fmt_size; // = 下一个结构体的大小 : 16 short int format_tag; // = PCM : 1
short int channels; // = 通道数 : 1
int samples_per_sec; // = 采样率 : 8000 | 6000 | 11025 | 16000
int avg_bytes_per_sec; // = 每秒字节数 : samples_per_sec * bits_per_sample / 8
short int block_align; // = 每采样点字节数 : wBitsPerSample / 8
short int bits_per_sample; // = 量化比特数: 8 | 16 char data[]; // = "data";
int data_size; // = 纯数据长度 : FileSize - 44
} wave_pcm_hdr; /* 默认wav音频头部数据 */
wave_pcm_hdr default_wav_hdr =
{
{ 'R', 'I', 'F', 'F' },
,
{'W', 'A', 'V', 'E'},
{'f', 'm', 't', ' '},
,
,
,
,
,
,
,
{'d', 'a', 't', 'a'}, };
/* 文本合成 */
int text_to_speech(const char* src_text, const char* des_path, const char* params)
{
int ret = -;
FILE* fp = NULL;
const char* sessionID = NULL;
unsigned int audio_len = ;
wave_pcm_hdr wav_hdr = default_wav_hdr;
int synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA; if (NULL == src_text || NULL == des_path)
{
printf("params is error!\n");
return ret;
}
fp = fopen(des_path, "wb");
if (NULL == fp)
{
printf("open %s error.\n", des_path);
return ret;
}
/* 开始合成 */
sessionID = QTTSSessionBegin(params, &ret);
if (MSP_SUCCESS != ret)
{
printf("QTTSSessionBegin failed, error code: %d.\n", ret);
fclose(fp);
return ret;
}
ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);
if (MSP_SUCCESS != ret)
{
printf("QTTSTextPut failed, error code: %d.\n",ret);
QTTSSessionEnd(sessionID, "TextPutError");
fclose(fp);
return ret;
}
printf("正在合成 ...\n");
fwrite(&wav_hdr, sizeof(wav_hdr) ,, fp); //添加wav音频头，使用采样率为16000
while ()
{
/* 获取合成音频 */
const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret);
if (MSP_SUCCESS != ret)
break;
if (NULL != data)
{
fwrite(data, audio_len, , fp);
wav_hdr.data_size += audio_len; //计算data_size大小
}
if (MSP_TTS_FLAG_DATA_END == synth_status)
break;
printf(">");
usleep(*); //防止频繁占用CPU
}//合成状态synth_status取值请参阅《讯飞语音云API文档》
printf("\n");
if (MSP_SUCCESS != ret)
{
printf("QTTSAudioGet failed, error code: %d.\n",ret);
QTTSSessionEnd(sessionID, "AudioGetError");
fclose(fp);
return ret;
}
/* 修正wav文件头数据的大小 */
wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - ); /* 将修正过的数据写回文件头部,音频文件为wav格式 */
fseek(fp, , );
fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), , fp); //写入size_8的值
fseek(fp, , ); //将文件指针偏移到存储data_size值的位置
fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), , fp); //写入data_size的值
fclose(fp);
fp = NULL;
/* 合成完毕 */
ret = QTTSSessionEnd(sessionID, "Normal");
if (MSP_SUCCESS != ret)
{
printf("QTTSSessionEnd failed, error code: %d.\n",ret);
} return ret;
} /**
* 将文本发送到讯飞服务器，获取语音文件文件
**/
int makeTextToWav(const char* text, const char* filename)
{
int ret = MSP_SUCCESS;
const char* login_params = "appid = 57f49f64, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动
/*
* rdn: 合成音频数字发音方式
* volume: 合成音频的音量
* pitch: 合成音频的音调
* speed: 合成音频对应的语速
* voice_name: 合成发音人
* sample_rate: 合成音频采样率
* text_encoding: 合成文本编码格式
*
* 详细参数说明请参阅《讯飞语音云MSC--API文档》
*/
const char* session_begin_params = "voice_name = xiaowanzi, text_encoding = utf8, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 0";
// const char* filename = "tts_sample.wav"; //合成的语音文件名称
// const char* text = "我是小丸子，今年126岁了，我的车牌号是12365，今年是2016年12月20号"; //合成文本 /* 用户登录 */
ret = MSPLogin(NULL, NULL, login_params);//第一个参数是用户名，第二个参数是密码，第三个参数是登录参数，用户名和密码可在http://open.voicecloud.cn注册获取
if (MSP_SUCCESS != ret)
{
printf("MSPLogin failed, error code: %d.\n", ret);
goto exit ;//登录失败，退出登录
}
/* 文本合成 */
printf("开始合成 ...\n");
ret = text_to_speech(text, filename, session_begin_params);
if (MSP_SUCCESS != ret)
{
printf("text_to_speech failed, error code: %d.\n", ret);
}
printf("合成完毕\n"); exit: MSPLogout(); //退出登录
return ;
} /**
* play the wav file
**/
void PlayWav()
{
system(PlayPath);
}
/**
*接受/voice/xf_tts_topic话题的字符串的回调函数
*/
void TTSCallback(const std_msgs::String::ConstPtr &msg)
{
std::cout<<"get topic text: " << msg->data.c_str();
makeTextToWav(msg->data.c_str(), FileName);
PlayWav();
} int main(int argc, char* argv[])
{
const char* start = "宝宝启动成功了";
makeTextToWav(start,FileName);
PlayWav(); ros::init(argc, argv,"xf_tts_node");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/voice/xf_tts_topic",,TTSCallback); ros::spin(); return ;
}
到~/catkin_ws编译
cam@cam-Aspire-V3-572G:~/catkin_ws$ catkin_make -j4
运行
￥ roscore
$ rosrun tts_voice tts_voice_node
启动播放 "宝宝启动成功了"
通过话题播放
rostopic pub /voice/xf_tts_topic std_msgs/String " 韩联社预计，鉴于黄教坚持现有外交政策，“萨德”部署相关工作可能提速。本月早些时候，一些*消息人士透露，
由于总统朴槿惠遭弹劾，国内政 局不确定性增加，韩国国防部决定加快“萨德”的相关部署工作，最快可能在明年5月完成部署。根据消息人士的说法，为了能尽早完成部署工作，
韩国国防部甚至考虑省略掉环境影响评估的环节。"
使用时需要把
const char* login_params = "appid = 57f49f64, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动
appid改为自己的帐号
如果play播放音频出错，是因为没有安装sox
执行安装即可
sudo apt-get install sox