根据古月居的教程，这里的需要加载音频驱动

但是，在上一步从TROS安装路径中,根本找不到audio.sh
我这边也是把tros重新卸载后又重新安装了一遍，并且安装了最新的tros-hobot-audio

依旧没有

root@ubuntu:~# ros2 launch audio_control audio_control.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-04-25-10-07-11-950337-ubuntu-3611
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [hobot_audio-1]: process started with pid [3613]
[INFO] [audio_control-2]: process started with pid [3615]
[audio_control-2]
[audio_control-2]       This is audio control package.
[audio_control-2]
[audio_control-2] ============================================
[audio_control-2]       audio control usage
[audio_control-2]
[audio_control-2] Wake up device is "地平线你好".
[audio_control-2] Audio control commnad word definitions are:
[audio_control-2]       "向前走": move front. (close from controler)
[audio_control-2]       "向后退": move back. (far from controler)
[audio_control-2]       "向右转": rotate robot to right.
[audio_control-2]       "向左转": rotate robot to left.
[audio_control-2] ============================================
[audio_control-2]
[hobot_audio-1] alsa_device_init snd_pcm_open hw:0,0 failed
[hobot_audio-1] [ERROR] [1714010832.944625285] [hobot_audio]: alsa device init fail, ret=-2
[hobot_audio-1] [ERROR] [1714010832.945009028] [audio_capture]: Init HBAudioCapture failed!
[hobot_audio-1] alsa_device_init, snd_pcm_open. handle((nil)), name(hw:0,0), direct(1), mode(0)
[INFO] [hobot_audio-1]: process has finished cleanly [pid 3613]

 

现在这个语音板的录音功能是正常的，但是它不具备麦克风降噪的功能，我这边录完音后在电脑上重新放出来听都是噪音
录音的时候我再重复的短语，你好，谢谢
只能在噪音中略微的听出是有声音的变化的