#ROS_GAME fjj_project_code 比赛代码 fjj_test_code 机器人大作业源代码文件2 其中的test 包为上交的源代码（homework不是作业的上交代码) fjj_task_code 机器人大作业源代码1（其中的fare_well为上交的源代码） 视频文件可以到ros_essay中获取。
程序清单
set_goal.cpp //功能集成化的核心节点，完成了整个流程的导航任务
open_voice.cpp //语音唤醒节点
iat_publish.cpp //语音识别节点
control_core.cpp //核心控制节点，处理大部分的控制信号
empty_node.cpp //空节点，可以实现状态切换仿真的步骤如下：
roslaunch fare_well fake_turtlebot_nav.launch ##仿真环境
roslaunch test robot_voice.launch ##打开语音识别和语音输出
roslaunch fare_well amcl_demo.launch ##开启导航
rosrun test control_core ##打开核心控制节点
rosrun test set_goal ##打开核心操作节点
rostopic pub /voiceWords std_msgs/String "data: 'i want to leave'"
rostopic pub /control_command std_msgs/String "data: 'robot finish recognize guest'"
rostopic pub /control_command std_msgs/String "data: 'robot get the coat'"
rostopic pub /voiceWords std_msgs/String "data: 'go out'"
rostopic pub /control_command std_msgs/String "data: 'robot arrive the cab'"
rostopic pub /voiceWords std_msgs/String "data: 'you can go back'" 真实运行时导航和语音部分测试步骤如下：
roslaunch fare_well real_robot_bringup_with_kinect.launch ##启动机器人
roslaunch test robot_voice.launch ##打开语音识别和语音输出
roslaunch fare_well amcl_demo.launch ##开启导航
rosrun test control_core ##打开核心控制节点
rosrun test set_goal ##打开核心操作节点
rostopic pub /voiceWords std_msgs/String "data: 'i want to leave'"
rostopic pub /control_command std_msgs/String "data: 'robot finish recognize guest'"
rostopic pub /control_command std_msgs/String "data: 'robot get the coat'"
rostopic pub /voiceWords std_msgs/String "data: 'go out'"
rostopic pub /control_command std_msgs/String "data: 'robot arrive the cab'"
rostopic pub /voiceWords std_msgs/String "data: 'you can go back'" 必要的硬件
hokuyo
kinect || astra
必要的软件依赖