import espeakng
import rclpy
from rclpy.node import Node
from example_interfaces.msg import String
from queue import Queue
import threading
import time
class NovelSubNode(Node):
def __init__(self, node_name):
super().__init__(node_name)
self.get_logger().info(f'{node_name},启动')
self.novels_queue_ = Queue()
self.novel_subscriber_ = self.create_subscription(String,'novel',self.novel_callback,10)
self.speech_thread_ = threading.Thread(target=self.speake_thread)
self.speech_thread_.start()
def novel_callback(self,msg):
self.novels_queue_.put(msg.data)
def speake_thread(self):
speaker = espeakng.Speaker()
speaker.voice = 'zh'
while rclpy.ok():#检查ros上下文是否ok
if self.novels_queue_.qsize()>0:
text = self.novels_queue_.get()
self.get_logger().info(f'朗读：',{text})
speaker.say(text)#说
speaker.wait()#等它说完
else:
#让当前线程休眠
time.sleep(1)
def main():
rclpy.init()
node=NovelSubNode('novel_sub')
rclpy.spin(node)
rclpy.shutdown()
cyt@TT:~/D/ROS2_LEARN/chapt3/topic_ws$ colcon build
Starting >>> demo_python_topic
Traceback (most recent call last):_topic - 0.2s]
File "<string>", line 1, in <module>
File "/usr/lib/python3.10/distutils/core.py", line 225, in run_setup
raise RuntimeError(("'distutils.core.setup()' was never called -- "
RuntimeError: 'distutils.core.setup()' was never called -- perhaps 'setup.py' is not a Distutils setup script?
--- stderr: demo_python_topic
Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/colcon_core/executor/__init__.py", line 91, in __call__
rc = await self.task(*args, **kwargs)
File "/usr/lib/python3/dist-packages/colcon_core/task/__init__.py", line 93, in __call__
return await task_method(*args, **kwargs)
File "/usr/lib/python3/dist-packages/colcon_ros/task/ament_python/build.py", line 51, in build
setup_py_data = get_setup_data(self.context.pkg, env)
File "/usr/lib/python3/dist-packages/colcon_core/task/python/__init__.py", line 20, in get_setup_data
return dict(pkg.metadata[key](env))
File "/usr/lib/python3/dist-packages/colcon_ros/package_augmentation/ros_ament_python.py", line 57, in getter
return get_setup_information(
File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 249, in get_setup_information
_setup_information_cache[hashable_env] = _get_setup_information(
File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 296, in _get_setup_information
result = subprocess.run(
File "/usr/lib/python3.10/subprocess.py", line 526, in run
raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command '['/usr/bin/python3', '-c', 'import sys;from contextlib import suppress;exec("with suppress(ImportError): from setuptools.extern.packaging.specifiers import SpecifierSet");exec("with suppress(ImportError): from packaging.specifiers import SpecifierSet");from distutils.core import run_setup;dist = run_setup( \'setup.py\', script_args=(\'--dry-run\',), stop_after=\'config\');skip_keys = (\'cmdclass\', \'distclass\', \'ext_modules\', \'metadata\');data = { key: value for key, value in dist.__dict__.items() if ( not key.startswith(\'_\') and not callable(value) and key not in skip_keys and key not in dist.display_option_names )};data[\'metadata\'] = { k: v for k, v in dist.metadata.__dict__.items() if k not in (\'license_files\', \'provides_extras\')};sys.stdout.buffer.write(repr(data).encode(\'utf-8\'))']' returned non-zero exit status 1.
---
Failed <<< demo_python_topic [0.26s, exited with code 1]
Summary: 0 packages finished [0.70s]
1 package failed: demo_python_topic
1 package had stderr output: demo_python_topic
Command '['/usr/bin/python3', '-c', 'import sys;from contextlib import suppress;exec("with suppress(ImportError): from setuptools.extern.packaging.specifiers import SpecifierSet");exec("with suppress(ImportError): from packaging.specifiers import SpecifierSet");from distutils.core import run_setup;dist = run_setup( \'setup.py\', script_args=(\'--dry-run\',), stop_after=\'config\');skip_keys = (\'cmdclass\', \'distclass\', \'ext_modules\', \'metadata\');data = { key: value for key, value in dist.__dict__.items() if ( not key.startswith(\'_\') and not callable(value) and key not in skip_keys and key not in dist.display_option_names )};data[\'metadata\'] = { k: v for k, v in dist.metadata.__dict__.items() if k not in (\'license_files\', \'provides_extras\')};sys.stdout.buffer.write(repr(data).encode(\'utf-8\'))']' returned non-zero exit status 1.
最新发布
本文介绍了一个用于检查OpenStack环境中各种接口上下文数据完整性的方法。该方法通过遍历指定的接口，评估每个接口的状态及缺失的数据，从而确保系统的稳定运行。
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