ROS2-rviz2 Visualization
1. Environment Preparation
System Requirements
Operating System: Ubuntu 22.04
ROS2 Version: Humble
Install the dependency library
Open the terminal and execute the following commands in sequence:
# 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 pyserial2. Create workspace and directory structure
Create Directory
Execute in the terminal:
# 创建工作空间目录
mkdir -p ~/juxi_speech_ws/src
cd ~/juxi_speech_ws/srcCreate a ROS2 Package
# 创建一个名为 juxi_voice 的 Python 功能包
ros2 pkg create --build-type ament_python juxi_voice --license MITFinal Directory Structure
After completion, your directory tree should be as follows (please place files strictly according to this structure):
~/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. File Content and Placement
Please enter the ~/juxi_speech_ws/src/juxi_voice/juxi_voice/ directory, download the following two Python files, and place them in this directory.
File 1:voice_node.py (Voice Control Node)
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()File 2:rviz_control.py (RViz control node)
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()File 3: Modify setup.py
位置：~/juxi_speech_ws/src/juxi_voice/setup.py
Find the entry_points section and modify it to the following content (tell ROS2 where these two programs are located):
entry_points={
'console_scripts': [
'voice_node = juxi_voice.voice_node:main',
'rviz_control = juxi_voice.rviz_control:main',
],
},4. Compile and Run
Compile
cd ~/juxi_speech_ws
colcon build --symlink-installRefresh environment variables
**This step must be executed every time a new terminal is opened **, or add it to ~/.bashrc:
cd ~/juxi_speech_ws
source install/setup.bash
或者写入到环境变量
source ~/juxi_speech_ws/install/setup.bashRun the node (requires 3 terminals)
Terminal 1: Run the voice node
cd ~/juxi_speech_ws
source install/setup.bash
sudo chmod 777 /dev/ttyUSB0 # 解决串口权限
ros2 run juxi_voice voice_nodeTerminal 2: Run the RViz control node
cd ~/juxi_speech_ws
source install/setup.bash
ros2 run juxi_voice rviz_controlTerminal 3: Open the RViz visualization interface
rviz25. RViz Interface Configuration
Click at the bottom left corner Add.
Find
Markerunder rviz_default_plugins, and click OK.At the top of the left panel, change Fixed Frame to
map.Find the newly added Marker in the left list, click to expand it, and change Topic to
/juxi_visual_marker.
At this point, you will see a white cube appear in the center of the screen.
6. Usage Method
**Wake up **: Say "Hello, Xiaoxi" to the module.
The module will reply "I'm here".
Terminal 1 will display "🔔 Wakeup completed".
Send commands: Then say "car move forward", "turn on red light", "turn off light", etc.
The module will automatically broadcast the corresponding response.
The cube in RViz will move or change color.
7. Troubleshooting Common Issues
Serial port permission error:
- Solution: Execute
sudo chmod 777 /dev/ttyUSB0.
There is no cube in RViz:
- Solution: Check if Fixed Frame is
mapand if Topic is/juxi_visual_marker.
**No response after giving the instruction **:
Troubleshooting: Open a new terminal and enter
ros2 topic echo /juxi_voice_cmd.If there is data showing: it indicates that the voice is normal, and the problem lies in the RViz configuration.
If no data is displayed: it indicates that there is no wake-up or no data on the serial port.