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cmd.sh
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#配置用户名
git config --global user.name "yjrqz777"
#配置邮箱
git config --global user.email [email protected]
ros2 pkg create audio_test --build-type ament_python --dependencies rclcpp
ros2 pkg create my_weakup --build-type ament_python --dependencies rclcpp
ros2 pkg create my_interface --build-type ament_cmake
colcon build --merge-install --packages-select moto_contor_test
colcon build --merge-install --packages-select nav2_control_demo
ros2 run moto_contor_test talks_node --ros-args -r __ns:=/`ros2 node list | grep "mi_" | head -n 1 | cut -f 2 -d "/"`
ros2 run moto_contor_test talks_node --ros-args -r __ns:=/mi_desktop_48_b0_2d_7b_02_9c
ros2 run motion_action2 client_test --ros-args -r __ns:=/mi_desktop_48_b0_2d_7b_02_9c
ros2 run talk_something talks_node --ros-args -r __ns:=/mi_desktop_48_b0_2d_7b_02_9c
/mi_desktop_48_b0_2d_7b_02_9c/motion_sequence_cmd
ros2 run moto_contor_test set_voice --ros-args -r __ns:=/mi_desktop_48_b0_2d_7b_02_9c
ros2 run audio_demos set_voice --ros-args -r __ns:=/`ros2 node list | grep "mi_" | head -n 1 | cut -f 2 -d "/"`
ros2 run motion_action client_test " {motion_id: 1}" --ros-args -r __ns:=/mi_desktop_48_b0_2d_7b_02_9c
ros2 service list | grep set_elec_skin
ros2 service type /mi_desktop_48_b0_2d_7b_02_9c/set_elec_skin
ros2 interface show std_srvs/srv/SetBool
ros2 service call /mi_desktop_48_b0_2d_7b_02_9c/enable_elec_skin std_srvs/srv/SetBool '{data: 1}'
ros2 service call /mi_desktop_48_b0_2d_7b_02_9c/set_elec_skin protocol/srv/ElecSkin '{mode: 4,wave_cycle_time: 2}'
# request
int32 mode # 0-全黑 1-全白 2-前向后渐变 3-后向前渐变 4-闪烁 5-随机 6-动态（随落地腿变色）
int32 wave_cycle_time # 2-5静态效果模式下表示变色时间，6动态模式下0值表示落地腿变白，非零表示变深色
---
# response
bool success
ros2 service call /mi_desktop_48_b0_2d_7b_02_9c/camera_service protocol/srv/CameraService "{command: 9, args: ''}"
ros2 service call /mi_desktop_48_b0_2d_7b_02_9c/camera_service protocol/srv/CameraService "{command: 9, width: 640, height: 480, fps: 0}"
ros2 topic list|grep speech_play_extend
/mi_desktop_48_b0_2d_7b_02_9c/speech_play_extend
ros2 topic echo /mi_desktop_48_b0_2d_7b_02_9c/volume_get
ros2 topic info /mi_desktop_48_b0_2d_7b_02_9c/volume_get
ros2 topic echo /mi_desktop_48_b0d_7b_02_9c/asr_text
protocol/msg/AudioPlayExtend
ros2 interface show protocol/msg/AudioPlay
ros2 interface show std_srvs/srv/Empty
string module_name
bool is_online
AudioPlay speech
string module_name
uint16 play_id
...
string text
ros2 topic pub --once /mi_desktop_48_b0_2d_7b_02_9c/speech_play_extend protocol/msg/AudioPlayExtend "{}"
ros2 topic pub <topic_name> <msg_type> '<args>'
speech_play_extend_voice->module_name = name_;
speech_play_extend_voice->is_online = online;
speech_play_extend_voice->speech.module_name = name_;
speech_play_extend_voice->speech.play_id = 32; // please close to me.
speech_play_extend_voice->text = strs;
speech_play_extend_->publish(std::move(speech_play_extend_voice));
ros2 topic pub /mi_desktop_48_b0_2d_7b_02_9c/speech_play_extend protocol/msg/AudioPlayExtend "{module_name: 'test', is_online: true, speech: {module_name: 'test', play_id: 32 }, text: '程纪云，你在干嘛呢，休息一会吧，'}"
ros2 run motion_action client_test --ros-args -r __ns:=/mi_desktop_48_b0_2d_7b_02_9c "{mode: 111}"
ros2 service call /mi_desktop_48_b0_2d_7b_02_9c/camera_service protocol/srv/CameraService "{command: 1, args: ''}"
# This message contains an uncompressed image
# (0, 0) is at top-left corner of image
std_msgs/Header header # Header timestamp should be acquisition time of image
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
# Header frame_id should be optical frame of camera
# origin of frame should be optical center of cameara
# +x should point to the right in the image
# +y should point down in the image
# +z should point into to plane of the image
# If the frame_id here and the frame_id of the CameraInfo
# message associated with the image conflict
# the behavior is undefined
uint32 height # image height, that is, number of rows
uint32 width # image width, that is, number of columns
# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# [email protected] and send an email proposing a new encoding.
string encoding # Encoding of pixels -- channel meaning, ordering, size
# taken from the list of strings in include/sensor_msgs/image_encodings.hpp
uint8 is_bigendian # is this data bigendian?
uint32 step # Full row length in bytes
uint8[] data # actual matrix data, size is (step * rows)
sudo mv /etc/mr813_version /etc/mr813_version.backup
du -h --max-depth=1 查看当前文件目录各个文件夹大小