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rikibot_ai_speech's Introduction

1 进入目录

进入到rikibot_project文件夹，在这里打开终端 Alt text

将rikibot_ai_speech文件夹替换

2 启动小车低层控制

roslaunch rikibot bringup.launch

3 启动语音控制

roslaunch rikibot rikibot_ai_speech rikibot_speech_ctrl.launch

4 更换服务器地址

在glm.py里将服务器地址更换为自己的，在autodl控制台点击自定义服务进入，然后复制上面的网址更换即可。服务器最好用3090的，避免显存不够的问题。 Alt text Alt text

5 启动你的服务器

在ChatGLM目录

python api.py

Alt text

6 与小车对话

此时便可以与小车对话了

需要注意的：

1.最好开一个wifi热点，将电脑和小车都连这个热点，然后使用nomachine连接小车。第一次连接时，需要先将小车连接一个显示器，然后才能操作

2.记得打开小车的麦克风，若发出蓝光则是开着的，麦克风记得充电

3.记得根据自己的小车来更改device_id

device_id可以先运行下面这个来查看

roslaunch rikibot rikibot_ai_speech rikibot_speech_ctrl.launch

然后在，launch\rikibot_speech_ctrl.launch这个文件里更改成对应的device_id

模型地址

从 Hugging Face Hub 下载模型需要先安装Git LFS

ChatGLM-6B

git clone https://huggingface.co/THUDM/chatglm-6b

中文Bert

git clone https://huggingface.co/sentence-transformers/distiluse-base-multilingual-cased-v1

(可能需要配置代理)

主要更改的代码

glm.py

构建小车与服务器连接的函数

rikibot_speech_ctrl.py

实现小车语音控制

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