看到一個好玩的東西，百度的語音識別，大家可以自己DIY一些小東西了。
參考：http://www.rosclub.cn/post-1032.html
1. 前面的下載，安裝都沒問題，故跳過不用理會。
2. 測試
下載之後：CMakeList.txt和packge.xml中需要修改，不然依賴無法滿足。什麼依賴可去了解一下ROS的檔案系統。
裡面所有的baidu_speech改為simple_voice.

以下是CmakeList.txt檔案

cmake_minimum_required(VERSION 2.8.3)
project(simple_voice)

find_package(catkin REQUIRED 
 
COMPONENTS
  rospy std_msgs message_generation
)


## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   TTS_message.msg
#   Message2.msg
 )

##Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate added messages and services with any dependencies listed here
 

 generate_messages(
   DEPENDENCIES
   std_msgs # Or other packages containing msgs
 )


catkin_package(
#  INCLUDE_DIRS include
  LIBRARIES simple_voice
  CATKIN_DEPENDS rospy message_runtime std_msgs
  #DEPENDS system_lib
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

以下是packge.xml檔案

<?xml version="1.0"?>
 

<package format="2">
  <name>simple_voice</name>
  <version>0.2.1</version>
  <description>The simple_voice package</description>

  <maintainer email="[email protected]">jcl</maintainer>
  <license>TODO</license>

  <buildtool_depend>catkin</buildtool_depend>

 <build_depend>rospy</build_depend>
  <exec_depend>rospy</exec_depend>
  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend> 
  <build_depend>std_msgs</build_depend>
  <exec_depend>std_msgs</exec_depend>

  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

我其實是catkin_create_pkg simple_voice建立的功能包，將新的東西複製了進去再修改，才能很好的編譯通過。。
catkin_make –pkg simple_voice 編譯該包

roslaunch simple_voice simple_speaker.launch
執行時仍然出了問題，問題如下，顯示import requests 錯誤。

解決方案：http://blog.51cto.com/9455163/1825839

該問題解決
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