ROS1 Voice Interaction

1、Environment Preparation

System Requirements

Operating System: Ubuntu 20.04 or 18.04
ROS1 Version: Noetic (recommended) or Melodic

Install Dependencies

Bash

# 1. Update sources
sudo apt update

# 2. Install ROS1 Desktop Full
# (skip if ROS1 is already installed)
sudo apt install ros-noetic-desktop-full -y    # Ubuntu 20.04
sudo apt install ros-melodic-desktop-full -y   # Ubuntu 18.04

# 3. Install this project's dependencies (supports both serial and I2C)
sudo apt install python3-pip ros-noetic-rviz i2c-tools -y
pip3 install pyserial smbus2

# If using Melodic (Python2)
sudo apt install python-pip ros-melodic-rviz i2c-tools -y
pip install pyserial smbus2

# 4. If using I2C wiring, install additionally
sudo apt install python3-smbus2 -y

2、Three Wiring Methods

The AI voice interaction module supports the following three wiring methods:

Automatic Detection Mechanism

When the ROS1 node starts, it automatically detects the wiring method in the following order:

First try the serial port: check /dev/ttyUSB0 → /dev/ttyACM0 → /dev/ttyAMA0 → /dev/ttyS0 in turn
Then try I2C: check whether slave 0x2A exists on /dev/i2c-1
For serial port detection, the port is considered available as long as the device file exists and can be opened; no additional verification is required

Once any one method is detected, detection stops and that method is locked in for use. No manual configuration is required.

3、IIC Protocol Description

IIC Slave Configuration

Register Definitions

4、Serial Port Protocol Description (Type-C / UART)

Frame Format

Each frame is fixed at 5 bytes:

Baud Rate

Fixed at 115200 bps.

5、Create the Workspace and Directory Structure

Create the catkin Workspace

Bash

mkdir -p ~/juxi_speech_ws/src
cd ~/juxi_speech_ws/src

Create the ROS Package

Bash

catkin_create_pkg juxi_voice rospy std_msgs visualization_msgs

Final Directory Structure

Place the files provided with this project into the corresponding locations:

Bash

~/juxi_speech_ws/
├── build/
├── devel/
└── src/
    └── juxi_voice/
        ├── CMakeLists.txt      # (replace with the one provided by this project)
        ├── package.xml          # (replace with the one provided by this project)
        ├── juxi_voice.rviz      # (new: RViz preset config file)
        ├── launch/
        │   └── juxi_voice.launch # (new: one-click launch file)
        └── scripts/
            ├── voice_node.py     # (new: voice node)
            └── rviz_control.py   # (new: RViz control node)

6、File Contents and Placement

File 1: `voice_node.py` (Voice Control Node)

Location: ~/juxi_speech_ws/src/juxi_voice/scripts/voice_node.py

Core Features:

Automatically detects the Type-C / UART / IIC wiring method
Unified command word mapping table (114 command words, fully consistent with Excel protocol table V1)
Uses the corresponding communication backend (serial port / I2C) based on the wiring method

Key Architecture:

Bash

# Unified command data: ID → (serial byte 2, serial byte 3, command text, playback mode)
CMD_DATA = {
    1:   (0x01, 0x00, "欢迎语", "被"),
    3:   (0x03, 0x00, "你好小犀", "主"),
    14:  (0x00, 0x04, "小车前进", "主"),
    84:  (0xFF, 0x5F, "这是红色", "被"),
    ...
}

# Automatic detection function
def detect_connection():
    # 1. Try serial ports /dev/ttyUSB0, /dev/ttyACM0, /dev/ttyAMA0, /dev/ttyS0
    # 2. Try I2C /dev/i2c-1 (slave address 0x2A)
    ...

(For the complete code, see the voice_node.py file provided with the project)

File 2: `rviz_control.py` (RViz Control Node)

Location: ~/juxi_speech_ws/src/juxi_voice/scripts/rviz_control.py

Subscribes to the /juxi_voice_cmd topic to receive command text and updates the cube visualization according to the command.

(For the complete code, see the rviz_control.py file provided with the project)

File 3: `CMakeLists.txt` and `package.xml`

These are already provided in this project; simply replace the default files generated automatically by catkin_create_pkg.

7、Build and Run

Build

Bash

cd ~/juxi_speech_ws
catkin_make

Environment Variables

Bash

source ~/juxi_speech_ws/devel/setup.bash
# Or write to ~/.bashrc
echo "source ~/juxi_speech_ws/devel/setup.bash" >> ~/.bashrc

Permission Setup

Bash

# I2C permissions
sudo chmod 666 /dev/i2c-1
# Serial port permissions
sudo chmod 666 /dev/ttyUSB0
sudo chmod 666 /dev/ttyACM0
sudo chmod 666 /dev/ttyAMA0
# Or add to the user group
sudo usermod -aG dialout $USER
sudo usermod -aG i2c $USER
# Log in again for the setting to take effect

Run the Nodes

Method 1: One-click Startup (Recommended)

Bash

cd ~/juxi_speech_ws
source devel/setup.bash
roslaunch juxi_voice juxi_voice.launch

On startup, the voice node, RViz control node, and RViz visualization interface are opened automatically.

Method 2: Step-by-step Startup (3 Terminals)

Terminal 1: Start roscore

Bash

roscore

Terminal 2: Voice node

Bash

cd ~/juxi_speech_ws
source devel/setup.bash
rosrun juxi_voice voice_node.py

On startup, the detected wiring method is displayed:

Bash

[INFO] 自动检测: IIC /dev/i2c-1 (从机地址 0x2A)
[INFO] 语音节点启动完成 - IIC /dev/i2c-1 (从机地址 0x2A)

Bash

[INFO] 自动检测: UART /dev/ttyUSB0
[INFO] 语音节点启动完成 - UART /dev/ttyUSB0

If no device is detected:

Bash

[FATAL] 未检测到AI语音交互模块！请检查接线 (Type-C / UART / IIC)
[FATAL] 支持的端口: I2C(/dev/i2c-1) | 串口(/dev/ttyUSB0 /dev/ttyACM0 /dev/ttyAMA0 /dev/ttyS0)

Terminal 3: RViz control node

Bash

cd ~/juxi_speech_ws
source devel/setup.bash
rosrun juxi_voice rviz_control.py

Terminal 4: RViz visualization (load the preconfigured file directly; no manual setup required)

Bash

rviz -d ~/juxi_speech_ws/src/juxi_voice/juxi_voice.rviz

Or open RViz first and then load it:

Bash

rviz
# Menu bar: File → Open Config → select juxi_voice.rviz

8、RViz Preconfiguration

juxi_voice.rviz is preconfigured with the following; it is ready to use on startup with no manual operation required:

Fixed Frame: map
Marker display: subscribed to /juxi_visual_marker (single marker)
MarkerArray display: subscribed to /juxi_visual_markers (multiple markers: robotic arm, battery level, alarm, etc.)
Viewpoint: viewed from above at an angle, with the center at the origin

9、Usage

Wake-up

Say "你好小犀" to the module → the module replies "我在"

Issuing Commands

"小车前进" → the cube moves forward
"亮红灯" → the cube turns red
"打开流水灯" → the color cycles
"报警" → a red pulsing sphere
"显示电量" → battery level text

Host-triggered Playback

Bash

# Passive playback (I2C → write 0xD1, serial → send FE EF FF XX EE)
rostopic pub /juxi_passive_play std_msgs/String "data: '这是红色'"
# Function word playback (I2C → write 0xD2, serial → send FE EF 01 00 EE)
rostopic pub /juxi_func_play std_msgs/String "data: '欢迎语'"
# Command word playback (I2C → write 0xD3, serial → send FE EF 00 04 EE)
rostopic pub /juxi_cmd_play std_msgs/String "data: '小车前进'"

10、Command Word ID Reference Table

A total of 114 command words, fully consistent with 命令词播报词协议列表V1_中文.xlsx.

Function Words (ID 1-10)

Command Words (ID 11-83, 113)

Passive Playback Words (ID 84-112, 114)

11、ROS1 Topic Description

12、Troubleshooting

1. "AI voice interaction module not detected" on startup

Check whether the device file for the corresponding wiring method exists:

Bash

# I2C wiring
ls /dev/i2c-1
sudo i2cdetect -y 1   # You should see 0x2A

# Type-C wiring
ls /dev/ttyUSB0 /dev/ttyACM0

# UART wiring
ls /dev/ttyAMA0 /dev/ttyS0

2. Serial port permission error

Bash

sudo chmod 666 /dev/ttyUSB0   # or /dev/ttyACM0, etc.
# Or add to the dialout user group (log in again required)
sudo usermod -aG dialout $USER

3. I2C permission error

Bash

sudo chmod 666 /dev/i2c-1
# Or add to the i2c user group (log in again required)
sudo usermod -aG i2c $USER

4. No cube in RViz

Check whether Fixed Frame is map
Check whether the Topic is /juxi_visual_marker
Confirm that the rviz_control.py node has been started

5. No response to commands after wake-up

Bash

rostopic echo /juxi_voice_cmd

Data present → RViz configuration problem; no data → wiring/communication problem.

6. rosrun cannot find the node

Confirm that the build and source have already been executed:

Bash

cd ~/juxi_speech_ws
catkin_make
source devel/setup.bash

7. Syntax error reported

Bash

# Make sure the Python script has execute permission
chmod +x ~/juxi_speech_ws/src/juxi_voice/scripts/voice_node.py
chmod +x ~/juxi_speech_ws/src/juxi_voice/scripts/rviz_control.py

1. Environment Setup

2. Serial Port Check

3. Arm Calibration

4. Teleoperation

5. Camera Teleop

6. Data Collection

7. Model Training

8. Model Inference

Basics

Extras & Advanced

1. Environment Setup

3. Serial Port Check

4. Arm Calibration

5. Teleoperation

6. Camera Teleop

7. Data Collection

8. Model Training

9. Model Inference

I2C Communication

Serial Communication

ROS1 Voice Interaction ​

1、Environment Preparation ​

System Requirements ​

Install Dependencies ​

2、Three Wiring Methods ​

Automatic Detection Mechanism ​

3、IIC Protocol Description ​

IIC Slave Configuration ​

Register Definitions ​

4、Serial Port Protocol Description (Type-C / UART) ​

Frame Format ​

Baud Rate ​

5、Create the Workspace and Directory Structure ​

Create the catkin Workspace ​

Create the ROS Package ​

Final Directory Structure ​

6、File Contents and Placement ​

File 1: voice_node.py (Voice Control Node) ​

File 2: rviz_control.py (RViz Control Node) ​

File 3: CMakeLists.txt and package.xml ​

7、Build and Run ​

Build ​

Environment Variables ​

Permission Setup ​

Run the Nodes ​

8、RViz Preconfiguration ​

9、Usage ​

Wake-up ​

Issuing Commands ​

Host-triggered Playback ​

10、Command Word ID Reference Table ​

Function Words (ID 1-10) ​

Command Words (ID 11-83, 113) ​

Passive Playback Words (ID 84-112, 114) ​

11、ROS1 Topic Description ​

12、Troubleshooting ​

Related Products

ROS1 Voice Interaction

1、Environment Preparation

System Requirements

Install Dependencies

2、Three Wiring Methods

Automatic Detection Mechanism

3、IIC Protocol Description

IIC Slave Configuration

Register Definitions

4、Serial Port Protocol Description (Type-C / UART)

Frame Format

Baud Rate

5、Create the Workspace and Directory Structure

Create the catkin Workspace

Create the ROS Package

Final Directory Structure

6、File Contents and Placement

File 1: `voice_node.py` (Voice Control Node)

File 2: `rviz_control.py` (RViz Control Node)

File 3: `CMakeLists.txt` and `package.xml`

7、Build and Run

Build

Environment Variables

Permission Setup

Run the Nodes

8、RViz Preconfiguration

9、Usage

Wake-up

Issuing Commands

Host-triggered Playback

10、Command Word ID Reference Table

Function Words (ID 1-10)

Command Words (ID 11-83, 113)

Passive Playback Words (ID 84-112, 114)

11、ROS1 Topic Description

12、Troubleshooting