ROS2-rviz2-Visualisierung

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1. Umgebungsvorbereitung

Systemanforderungen

• Betriebssystem: Ubuntu 22.04

• ROS2-Version: Humble

Abhängigkeiten installieren

Terminal öffnen und die folgenden Befehle nacheinander ausführen:

# 1. Update sources
sudo apt update

# 2. Install ROS2 base packages (if ROS2 is not installed yet)
# (If ROS2 is already installed, skip this step)
# sudo apt install ros-humble-desktop -y

# 3. Install project-specific dependencies
sudo apt install python3-pip ros-humble-rviz2 ros-humble-visualization-msgs -y
pip3 install pyserial

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2. Workspace und Verzeichnisstruktur erstellen

Verzeichnisse erstellen

Im Terminal ausführen:

# Create the workspace directory
mkdir -p ~/juxi_speech_ws/src
cd ~/juxi_speech_ws/src

ROS2-Paket erstellen

# Create a Python package named juxi_voice
ros2 pkg create --build-type ament_python juxi_voice --license MIT

Endgültige Verzeichnisstruktur

Danach sollte Ihr Verzeichnisbaum wie folgt aussehen (Dateien exakt in dieser Struktur ablegen):

~/juxi_speech_ws/
├── build/                # (generated automatically by the build)
├── install/              # (generated automatically by the build)
├── log/                  # (generated automatically by the build)
└── src/
    └── juxi_voice/
        ├── package.xml   # (auto-generated, no changes needed)
        ├── setup.py      # (needs modification)
        ├── resource/
        │   └── juxi_voice
        └── juxi_voice/   # <-- put the core code here
            ├── __init__.py
            ├── voice_node.py    # (new: voice node)
            └── rviz_control.py  # (new: RViz control node)

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3. Dateiinhalte und Platzierung

In das Verzeichnis ~/juxi_speech_ws/src/juxi_voice/juxi_voice/ wechseln und die folgenden zwei Python-Dateien dort ablegen.

Datei 1: voice_node.py (Sprachsteuerungs-Node)

Ort: ~/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')

        # === Config section ===
        self.serial_port_name = "/dev/ttyUSB0"
        self.baudrate = 115200
        self.frame_len = 5

        # === Wake word configuration ===
        self.awake_frames = {
            0x01: "你好小犀",
            0x02: "小犀小犀",
            0x03: "钜犀"
        }
        self.is_awake = False

        # === Full command word mapping (protocol 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("✅ Voice node started")

    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"🔌 Serial port opened: {self.serial_port_name}")
                return ser
        except PermissionError:
            self.get_logger().error(f"❌ Permission denied! Run: sudo chmod 777 {self.serial_port_name}")
        except Exception as e:
            self.get_logger().error(f"❌ Serial error: {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

        # Handle wake words
        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"🔔 Awakened: {self.awake_frames[b3]}")
            return

        # Handle control commands
        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"🚀 Sent command: {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()

Datei 2: rviz_control.py (RViz-Steuerungs-Node)

Ort: ~/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 node started")

    def _cmd_callback(self, msg):
        cmd = msg.data
        self.get_logger().info(f"📢 Received: {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()

Datei 3: setup.py ändern

Ort: ~/juxi_speech_ws/src/juxi_voice/setup.py

Den Abschnitt entry_points finden und wie folgt ändern (damit ROS2 weiß, wo die zwei Programme liegen):

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

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4. Kompilieren und ausführen

Kompilieren

cd ~/juxi_speech_ws
colcon build --symlink-install

Umgebungsvariablen aktualisieren

Dieser Schritt muss in jedem neuen Terminal ausgeführt werden – oder in ~/.bashrc aufnehmen:

cd ~/juxi_speech_ws
source install/setup.bash
# Or add to the environment
source ~/juxi_speech_ws/install/setup.bash

Nodes ausführen (3 Terminals nötig)

Terminal 1: Sprach-Node starten

cd ~/juxi_speech_ws
source install/setup.bash
sudo chmod 777 /dev/ttyUSB0  # solve serial port permission
ros2 run juxi_voice voice_node

Terminal 2: RViz-Steuerungs-Node starten

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

Terminal 3: RViz-Oberfläche öffnen

rviz2

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5. RViz-Oberfläche konfigurieren

1. Links unten Add anklicken.

2. Unter rviz_default_plugins Marker finden, OK anklicken.

3. Im linken Panel oben Fixed Frame auf map ändern.

4. In der linken Liste den gerade hinzugefügten Marker finden, aufklappen und Topic auf /juxi_visual_marker ändern.

Nun erscheint ein weißer Würfel in der Bildschirmmitte.

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6. Verwendung

Aufwecken: Zum Modul „你好小犀" sagen.

• Das Modul antwortet mit „我在".

• Terminal 1 zeigt „🔔 已唤醒".

Befehl senden: Danach z. B. „小车前进", „亮红灯", „关灯" sagen.

• Das Modul spielt die passende Antwort ab.

• Der Würfel in RViz bewegt sich oder ändert die Farbe.

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7. Fehlerbehebung bei häufigen Problemen

Serielle Port-Berechtigungsfehler:

• Lösung: sudo chmod 777 /dev/ttyUSB0 ausführen.

Kein Würfel in RViz:

• Lösung: Prüfen, ob Fixed Frame map und Topic /juxi_visual_marker ist.

Keine Reaktion auf Befehle:

• Prüfung: Neues Terminal öffnen, ros2 topic echo /juxi_voice_cmd ausführen.

• Wenn Daten erscheinen: Sprache funktioniert, Problem liegt in der RViz-Konfiguration.

• Wenn keine Daten: Nicht aufgeweckt oder keine Daten auf der Seriellen.