企业官网建设流程全解析

1、环境准备

1. 系统要求

• 操作系统：Ubuntu 22.04
• ROS2 版本：Humble

2. 安装依赖库
   打开终端，依次执行以下命令：

# 1. 更新源 sudo apt update # 2. 安装 ROS2 基础包（如果还没装ROS2） # (如果已安装ROS2，跳过此步) # sudo apt install ros-humble-desktop -y # 3. 安装本项目特定依赖 sudo apt install python3-pip ros-humble-rviz2 ros-humble-visualization-msgs -y pip3 install pyserial

2、创建工作空间与目录结构

1. 创建目录
   在终端执行：

# 创建工作空间目录 mkdir -p ~/juxi_speech_ws/src cd ~/juxi_speech_ws/src

2. 创建 ROS2 功能包

# 创建一个名为 juxi_voice 的 Python 功能包 ros2 pkg create --build-type ament_python juxi_voice --license MIT

3. 最终目录结构
   完成后，你的目录树应该如下（请严格按照此结构放置文件）：

~/juxi_speech_ws/ ├── build/ # (编译自动生成) ├── install/ # (编译自动生成) ├── log/ # (编译自动生成) └── src/ └── juxi_voice/ ├── package.xml # (自动生成，无需修改) ├── setup.py # (需要修改) ├── resource/ │ └── juxi_voice └── juxi_voice/ # 【核心代码放这里】 ├── __init__.py ├── voice_node.py # (新建：语音节点) └── rviz_control.py # (新建：RViz控制节点)

3、文件内容与放置
请进入 ~/juxi_speech_ws/src/juxi_voice/juxi_voice/ 目录，下载以下两个 Python 文件，并放到这个目录下。
文件 1：voice_node.py (语音控制节点)
位置：~/juxi_speech_ws/src/juxi_voice/juxi_voice/voice_node.py

#!/usr/bin/env python3 import rclpy from rclpy.node import Node from std_msgs.msg import String import serial import time class VoiceControlNode(Node): def __init__(self): super().__init__('juxi_voice_node') # === 配置区 === self.serial_port_name = "/dev/ttyUSB0" self.baudrate = 115200 self.frame_len = 5 # === 唤醒词配置 === self.awake_frames = { 0x01: "你好小犀", 0x02: "小犀小犀", 0x03: "钜犀" } self.is_awake = False # === 完整命令词映射 (协议V3) === self.cmd_mapping = { (0x00, 0x01): ["小车停止", [0xAA, 0x55, 0x00, 0x01, 0xFB]], (0x00, 0x04): ["小车前进", [0xAA, 0x55, 0x00, 0x04, 0xFB]], (0x00, 0x05): ["小车后退", [0xAA, 0x55, 0x00, 0x05, 0xFB]], (0x00, 0x06): ["小车左转", [0xAA, 0x55, 0x00, 0x06, 0xFB]], (0x00, 0x07): ["小车右转", [0xAA, 0x55, 0x00, 0x07, 0xFB]], (0x00, 0x0A): ["关灯", [0xAA, 0x55, 0x00, 0x0A, 0xFB]], (0x00, 0x0B): ["亮红灯", [0xAA, 0x55, 0x00, 0x0B, 0xFB]], (0x00, 0x0C): ["亮绿灯", [0xAA, 0x55, 0x00, 0x0C, 0xFB]], (0x00, 0x0D): ["亮蓝灯", [0xAA, 0x55, 0x00, 0x0D, 0xFB]], (0x00, 0x0E): ["亮黄灯", [0xAA, 0x55, 0x00, 0x0E, 0xFB]], (0x00, 0x0F): ["打开流水灯", [0xAA, 0x55, 0x00, 0x0F, 0xFB]], (0x00, 0x21): ["回到原点", [0xAA, 0x55, 0x00, 0x21, 0xFB]], (0x00, 0x27): ["向上", [0xAA, 0x55, 0x00, 0x27, 0xFB]], (0x00, 0x28): ["向下", [0xAA, 0x55, 0x00, 0x28, 0xFB]], (0x00, 0x2B): ["夹紧", [0xAA, 0x55, 0x00, 0x2B, 0xFB]], (0x00, 0x2C): ["松开", [0xAA, 0x55, 0x00, 0x2C, 0xFB]], (0x00, 0x03): ["小车休眠", [0xAA, 0x55, 0x00, 0x03, 0xFB]], } self.awake_play_frame = [0xAA, 0x55, 0x01, 0x00, 0xFB] self.pub_cmd = self.create_publisher(String, '/juxi_voice_cmd', 10) self.ser = self._init_serial() self.timer = self.create_timer(0.01, self._read_and_parse_serial) self.get_logger().info("✅ 语音节点启动完成") def _init_serial(self): try: ser = serial.Serial(self.serial_port_name, self.baudrate, timeout=0.01) if ser.is_open: self.get_logger().info(f"🔌 串口打开成功: {self.serial_port_name}") return ser except PermissionError: self.get_logger().error(f"❌ 权限不足！请执行: sudo chmod 777 {self.serial_port_name}") except Exception as e: self.get_logger().error(f"❌ 串口错误: {e}") return None def _play_voice(self, play_frame): if self.ser: try: self.ser.write(bytes(play_frame)) time.sleep(0.005) except: pass def _read_and_parse_serial(self): if not self.ser or self.ser.in_waiting < self.frame_len: return raw_data = self.ser.read(self.frame_len) if len(raw_data) < 5: return b0, b1, b3, b4, b5 = raw_data if b0 != 0xAA or b1 != 0x55 or b5 != 0xFB: self.ser.flushInput() return # 处理唤醒词 if b4 == 0x00 and b3 in self.awake_frames: self.is_awake = True self._play_voice(self.awake_play_frame) self.get_logger().info(f"🔔 已唤醒: {self.awake_frames[b3]}") return # 处理控制指令 if self.is_awake: key = (b3, b4) if key in self.cmd_mapping: text, frame = self.cmd_mapping[key] self._play_voice(frame) msg = String() msg.data = text self.pub_cmd.publish(msg) self.get_logger().info(f"🚀 发送指令: {text}") def main(args=None): rclpy.init(args=args) node = VoiceControlNode() try: rclpy.spin(node) except KeyboardInterrupt: pass finally: node.destroy_node(); rclpy.shutdown() if __name__ == '__main__': main()

文件 2：rviz_control.py (RViz 控制节点)
位置：~/juxi_speech_ws/src/juxi_voice/juxi_voice/rviz_control.py

#!/usr/bin/env python3 import rclpy import time from rclpy.node import Node from std_msgs.msg import String from visualization_msgs.msg import Marker class RvizCubeControl(Node): def __init__(self): super().__init__('juxi_rviz_node') self.cube_x, self.cube_y, self.cube_z = 0.0, 0.0, 0.0 self.cube_color = (1.0, 1.0, 1.0) self.cube_alpha = 1.0 self.cube_scale = 0.5 self.move_step = 0.5 self.marker_pub = self.create_publisher(Marker, '/juxi_visual_marker', 10) self.cmd_sub = self.create_subscription(String, '/juxi_voice_cmd', self._cmd_callback, 10) self.timer = self.create_timer(0.1, self._publish_marker) self.get_logger().info("✅ RViz节点启动完成") def _cmd_callback(self, msg): cmd = msg.data self.get_logger().info(f"📢 收到: {cmd}") if cmd == "小车前进": self.cube_x += self.move_step elif cmd == "小车后退": self.cube_x -= self.move_step elif cmd in ["小车左转", "向左"]: self.cube_y += self.move_step elif cmd in ["小车右转", "向右"]: self.cube_y -= self.move_step elif cmd == "向上": self.cube_z += self.move_step elif cmd == "向下": self.cube_z -= self.move_step; self.cube_z = max(0.0, self.cube_z) elif cmd == "关灯": self.cube_color = (0.0,0.0,0.0); self.cube_alpha = 0.3 elif cmd == "亮红灯": self.cube_color = (1.0,0.0,0.0); self.cube_alpha = 1.0 elif cmd == "亮绿灯": self.cube_color = (0.0,1.0,0.0); self.cube_alpha = 1.0 elif cmd == "亮蓝灯": self.cube_color = (0.0,0.0,1.0); self.cube_alpha = 1.0 elif cmd == "亮黄灯": self.cube_color = (1.0,1.0,0.0); self.cube_alpha = 1.0 elif cmd == "打开流水灯": colors = [(1.0,0.0,0.0), (0.0,1.0,0.0), (0.0,0.0,1.0), (1.0,1.0,0.0)] idx = int(time.time() * 2) % 4 self.cube_color = colors[idx] elif cmd == "回到原点": self.cube_x = self.cube_y = self.cube_z = 0.0 self.cube_color = (1.0,1.0,1.0) self.cube_alpha = 1.0 self.cube_scale = 0.5 elif cmd == "夹紧": self.cube_scale = 0.25 elif cmd == "松开": self.cube_scale = 0.5 elif cmd == "小车休眠": self.cube_color = (0.3,0.3,0.3) def _publish_marker(self): marker = Marker() marker.header.frame_id = "map" marker.header.stamp = self.get_clock().now().to_msg() marker.ns = "juxi_cube" marker.id = 0 marker.type = Marker.CUBE marker.action = Marker.ADD marker.pose.position.x = self.cube_x marker.pose.position.y = self.cube_y marker.pose.position.z = self.cube_z marker.pose.orientation.w = 1.0 marker.scale.x = marker.scale.y = marker.scale.z = self.cube_scale marker.color.r = float(self.cube_color[0]) marker.color.g = float(self.cube_color[1]) marker.color.b = float(self.cube_color[2]) marker.color.a = float(self.cube_alpha) self.marker_pub.publish(marker) def main(args=None): rclpy.init(args=args) node = RvizCubeControl() try: rclpy.spin(node) except KeyboardInterrupt: pass finally: node.destroy_node(); rclpy.shutdown() if __name__ == '__main__': main()

文件 3：修改 setup.py
位置：~/juxi_speech_ws/src/juxi_voice/setup.py
找到 entry_points 部分，修改为如下内容（告诉 ROS2 这两个程序在哪里）：

entry_points={ 'console_scripts': [ 'voice_node = juxi_voice.voice_node:main', 'rviz_control = juxi_voice.rviz_control:main', ], },

4、编译与运行

1. 编译

cd ~/juxi_speech_ws colcon build --symlink-install

2. 刷新环境变量
   每次打开新终端都必须执行这一步，或者将其添加到 ~/.bashrc：

cd ~/juxi_speech_ws source install/setup.bash 或者写入到环境变量 source ~/juxi_speech_ws/install/setup.bash

3. 运行节点（需要 3 个终端）
   终端 1：运行语音节点

cd ~/juxi_speech_ws source install/setup.bash sudo chmod 777 /dev/ttyUSB0 # 解决串口权限 ros2 run juxi_voice voice_node

终端 2：运行 RViz 控制节点

cd ~/juxi_speech_ws source install/setup.bash ros2 run juxi_voice rviz_control

终端 3：打开 RViz 可视化界面

rviz2

5、RViz 界面配置

1. 左下角点击 Add。
2. 找到 rviz_default_plugins 下的 Marker，点击 OK。
3. 在左侧面板顶部，将 Fixed Frame 改为 map。
4. 在左侧列表中找到刚添加的 Marker，点击展开，将 Topic 改为 /juxi_visual_marker。
   此时你会看到一个白色的立方体出现在屏幕中央。

6、使用方法
唤醒：对着模块说 “你好小犀”。

• 模块会回复 “我在”。
• 终端 1 会显示 “🔔 已唤醒”。
  发指令：接着说 “小车前进”、“亮红灯”、“关灯” 等。
• 模块会自动播报对应的回复语。
• RViz 里的方块会移动或变色。

7、常见问题排查
串口权限报错：

• 解决：执行sudo chmod 777 /dev/ttyUSB0。
  RViz 里没有方块：
• 解决：检查 Fixed Frame 是否为map，Topic 是否为/juxi_visual_marker。
  说完指令没反应：
• 排查：新开一个终端，输入ros2 topic echo /juxi_voice_cmd。
• 如果有数据显示：说明语音正常，问题在 RViz 配置。
• 如果没数据显示：说明没唤醒或串口没数据。