如何用Python脚本向Ubuntu上的虚拟NAOqi机器人发送文本语音输入？

To replicate Choregraphe's dialogue window functionality—sending text that the robot treats as spoken input—you’ll use the official qi framework (Python SDK for NAOqi) and interact with the ALDialog service, which handles the robot’s dialogue processing under the hood.

Step 1: Install the Qi Python SDK #

First, install the SDK matching your NAOqi version. For most recent releases, use pip:

pip install qi

Note: If you’re working with an older NAOqi version (pre-2.5), you may need the legacy naoqi package instead.

Step 2: Complete Python Script Example #

This script connects to your virtual robot, sets up a basic dialogue topic, and sends text input just like Choregraphe:

import qi
import sys

def main():
    # Connect to your running naoqi-bin instance
    session = qi.Session()
    try:
        session.connect("tcp://127.0.0.1:9001")
        print("Successfully connected to the virtual robot!")
    except RuntimeError:
        print(f"Failed to connect to 127.0.0.1:9001. Is naoqi-bin running with the correct port?")
        sys.exit(1)

    # Access the ALDialog service
    al_dialog = session.service("ALDialog")
    al_dialog.setLanguage("English")

    # Define a simple dialogue topic (replace with your Choregraphe topics if needed)
    test_topic = """
    topic: ~BasicChat()
    language: enu
    u:(hello hi) Hey there! Nice to chat with you.
    u:(how are you doing) I'm in perfect shape, thanks for asking!
    u:(goodbye see you) Catch you later! Have a great day.
    """

    # Load and activate the topic
    topic_id = al_dialog.loadTopicContent(test_topic)
    al_dialog.activateTopic(topic_id)
    al_dialog.subscribe("PythonTextInput")

    # Send text input (this mimics typing in Choregraphe's dialogue window)
    user_input = "How are you doing"
    print(f"Sending text: {user_input}")
    al_dialog.inputText(user_input)

    # Wait for the robot to process and respond
    qi.sleep(2)

    # Clean up resources
    al_dialog.unsubscribe("PythonTextInput")
    al_dialog.deactivateTopic(topic_id)
    al_dialog.unloadTopic(topic_id)

if __name__ == "__main__":
    main()

Key Notes #

• ALDialog.inputText(): This is the critical method—it sends text directly to the robot’s dialogue system, just as if it was recognized from speech. The robot will generate a spoken response (via ALTextToSpeech) or trigger any linked behaviors from your dialogue topic.
• Use Existing Choregraphe Topics: Instead of defining a new topic, you can export topics from Choregraphe as .top files, then load them with al_dialog.loadTopic("/path/to/your/topic.top").
• Language Matching: Ensure the language set with setLanguage() matches your topic’s language (e.g., "French", "Spanish") to avoid processing errors.

Troubleshooting Tips #

• Double-check that your naoqi-bin command uses the same IP (-b 127.0.0.1) and port (-p 9001) as the script.
• If you get a "service not found" error for ALDialog, confirm the dialogue service is enabled (it’s on by default for virtual robots).
• For legacy NAOqi versions, replace qi.Session() with naoqi.ALProxy connections—the inputText method works identically.

内容的提问来源于stack exchange，提问作者Muhammad Rahman