高级教程--(多机器人)单个机器人音乐播放

hawkbot

在开启小车robot_id的前提下，例如小车的robot_id为robot_01，则命令为

hawkbot@hawkbot-ubuntu:~/catkin_ws$ roslaunch hawkbot sound_play.launch id:=robot_01
... logging to /home/hawkbot/.ros/log/b95cc910-e3d3-11ed-a536-07c3c430dc4f/roslaunch-hawkbot-ubuntu-3505.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.100.238:44225/

SUMMARY
========

PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.15

NODES
  /
    sound_hawkbot_ubuntu_3505_6851557374910522608 (hawkbot/sound.py)

ROS_MASTER_URI=http://127.0.0.1:11311

process[sound_hawkbot_ubuntu_3505_6851557374910522608-1]: started with pid [3519]
[INFO] [1682476263.613920]: 播放完毕
[sound_hawkbot_ubuntu_3505_6851557374910522608-1] process has finished cleanly
log file: /home/hawkbot/.ros/log/b95cc910-e3d3-11ed-a536-07c3c430dc4f/sound_hawkbot_ubuntu_3505_6851557374910522608-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
自定义音乐
播放音乐的内容可以自己编辑，打开sound.py文件，修改下面的声音字符串即可。
sound_str = "2000:1000,800:1000,600:1000,1500:2000"

字符串为连续的音符拼接，中间用逗号分开，每个音符结构：频率:延时（ms）