• 在vioce_system 包中的src資料夾下建立一個tuling_nlu.cpp檔案
• 以下是tuling_nlu.cpp的內容（注意，需要把程式碼中的key改為自己建立機器人的key，把 curl_easy_setopt(pCurl, CURLOPT_URL, "http://openapi.tuling123.com/openapi/api"); 
  中的網址改為自己機器人的介面地址，這個地址可以在機器人的api文件中找到）

• #include<ros/ros.h>
  #include<std_msgs/String.h>
  #include<iostream>
  #include<sstream>
  #include<jsoncpp/json/json.h>
  #include<curl/curl.h>
  #include<string>
  #include<exception>
   
  using namespace std;
   
  int flag = 0;
  string result;
   
   int writer(char *data, size_t size, size_t nmemb, string *writerData)
  {
      unsigned long sizes = size * nmemb;
      if (writerData == NULL)
          return -1;
   
      writerData->append(data, sizes);
   
      return sizes;
  }
  
  int parseJsonResonse(string input)
  {
     Json::Value root;
     Json::Reader reader;
     bool parsingSuccessful = reader.parse(input, root);
     if(!parsingSuccessful)
     {
         std::cout<<"!!! Failed to parse the response data"<< std::endl;
          return -1;
     }
     const Json::Value code = root["code"];
     const Json::Value text = root["text"];
     result = text.asString();
     flag = 1;
   
     std::cout<< "response code:" << code << std::endl;
     std::cout<< "response text:" << result << std::endl;
   
     return 0;
  }
  
  int HttpPostRequest(string input)
  {
      string buffer;
   
      std::string strJson = "{";
      strJson += "\"key\" : \"093f05b003c643bbae919b353c3a12ff\","; //雙引號前加／防轉儀
      strJson += "\"info\" : ";
      strJson += "\"";
      strJson += input;
      strJson += "\"";
      strJson += "}";
   
      std::cout<<"post json string: " << strJson << std::endl;
   
       try
      {
          CURL *pCurl = NULL;
          CURLcode res;
          // In windows, this will init the winsock stuff
          curl_global_init(CURL_GLOBAL_ALL);
   
          // get a curl handle
          pCurl = curl_easy_init();
          if (NULL != pCurl)
          {
              // 設定超時時間為10秒
              curl_easy_setopt(pCurl, CURLOPT_TIMEOUT, 10);
   
              // First set the URL that is about to receive our POST.
              // This URL can just as well be a
              // https:// URL if that is what should receive the data.
              curl_easy_setopt(pCurl, CURLOPT_URL, "http://openapi.tuling123.com/openapi/api");
              //curl_easy_setopt(pCurl, CURLOPT_URL, "http://192.168.0.2/posttest.cgi");
   
              // 設定http傳送的內容型別為JSON
              curl_slist *plist = curl_slist_append(NULL,"Content-Type:application/json;charset=UTF-8");
              curl_easy_setopt(pCurl, CURLOPT_HTTPHEADER, plist);
   
              // 設定要POST的JSON資料
              curl_easy_setopt(pCurl, CURLOPT_POSTFIELDS, strJson.c_str());
   
              curl_easy_setopt(pCurl, CURLOPT_WRITEFUNCTION, writer);
   
              curl_easy_setopt(pCurl, CURLOPT_WRITEDATA, &buffer);
   
              // Perform the request, res will get the return code
              res = curl_easy_perform(pCurl);
              // Check for errors
              if (res != CURLE_OK)
              {
                  printf("curl_easy_perform() failed:%s\n", curl_easy_strerror(res));
              }
              // always cleanup
              curl_easy_cleanup(pCurl);
          }
          curl_global_cleanup();
      }
      catch (std::exception &ex)
      {
          printf("curl exception %s.\n", ex.what());
      }
      if(buffer.empty())
      {
        std::cout<< "!!! ERROR The Tuling sever response NULL" << std::endl;
      }
      else
      {
          parseJsonResonse(buffer);
      }
   
      return 0;
   
  }
  void arvCallBack(const std_msgs::String::ConstPtr &msg)
  {
      std::cout<<"your quesion is: " << msg->data << std::endl;
      HttpPostRequest(msg->data);
  }
   
  int main(int argc, char **argv)
  {
      ros::init(argc, argv,"tuling_nlu_node");
      ros::NodeHandle nd;
   
      ros::Subscriber sub = nd.subscribe("voice/tuling_nlu_topic", 10, arvCallBack);
      ros::Publisher pub = nd.advertise<std_msgs::String>("/voice/xf_tts_topic", 10);
      ros::Rate loop_rate(10);
   
      while(ros::ok())
      {
          if(flag)
          {
              std_msgs::String msg;
              msg.data = result;
              pub.publish(msg);
              flag = 0;
          }
          ros::spinOnce();
          loop_rate.sleep();
      }
   
   
  }
   
  
  

• 在CMakeList檔案中加入

• add_executable(tuling_nlu_node src/tuling_nlu.cpp)
  target_link_libraries(tuling_nlu_node   ${catkin_LIBRARIES} -lcurl -ljsoncpp)

• 修改好的CMakeList如下

• cmake_minimum_required(VERSION 2.8.3)  
  project(voice_system)  
    
    
  find_package(catkin REQUIRED COMPONENTS  
    roscpp  
    rospy  
    std_msgs  
  )  
    
    
  include_directories(  
     include  
    ${catkin_INCLUDE_DIRS}  
      
  )  
    
    
  add_executable(xf_tts_node src/xf_tts.cpp)  
  target_link_libraries(xf_tts_node ${catkin_LIBRARIES}   -lmsc -lrt -ldl -lpthread)
  add_executable(tuling_nlu_node src/tuling_nlu.cpp)
  target_link_libraries(tuling_nlu_node   ${catkin_LIBRARIES} -lcurl -ljsoncpp)
   
  

• 在catkin_ws編譯一下
• $ cd catkin_ws
  
• $ catkin_make
  
• 現在就可以和機器人對話了
• 首先roscore一下，在catkin_ws下執行xf_tts_node節點和tuling_nlu_node節點
• $ rosrun voice_system xf_tts_node
• $ rosrun voice_system tuling_nlu_node
• $ rostopic pub -1 /voice/tuling_nlu_topic std_msgs/String "明天東莞天氣"
• 在此，你便能聽到圖靈機器人的回覆了
  

該文章主要是對自己學習的一些總結，方便以後學習，也對學習該方面的人提供一些幫助，如有問題請指出。