# kuavo_exhibition_opensource

**Repository Path**: leju-robot/kuavo_exhibition_opensource

## Basic Information

- **Project Name**: kuavo_exhibition_opensource
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: dev
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 2
- **Created**: 2025-05-26
- **Last Updated**: 2026-04-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Kuavo Exhibition 展厅机器人系统

## 目录
- [系统概述](#系统概述)
- [代码克隆](#代码克隆)
- [编译与运行](#编译与运行)
- [系统架构](#系统架构)
- [工作流程](#工作流程)
- [模块功能说明](#模块功能说明)
- [接口文档](#接口文档)
  - [话题接口](#话题接口)
  - [服务接口](#服务接口)

---

## 系统概述

Kuavo Exhibition 是一个完整的展厅类人形机器人系统，用于展厅导览、迎宾、讲解等场景。系统采用模块化设计，包含以下核心功能：

- **语音交互**：语音识别(ASR)、语音合成(TTS)、语音克隆、大模型对话
- **导航控制**：激光导航、路径规划、自动避障、任务点管理
- **视觉感知**：深度摄像头、人员检测、人脸识别、视觉迎宾
- **动作控制**：机械臂轨迹规划、头部运动、LED灯控制
- **通信接口**：WebSocket/ROS Bridge、HTTP文件服务、WebRTC视频流

---

## 代码克隆

```bash
cd ~
rm -rf ~/kuavo_exhibition
```

### lejuhub仓库克隆指令(内部仓库)
```bash
git clone https://www.lejuhub.com/ros-application-team/kuavo_exhibition.git
```

### gitee仓库克隆指令（部署请用开源仓库指令）
```bash
git clone https://gitee.com/leju-robot/kuavo_exhibition_opensource.git kuavo_exhibition
```

---

## 编译与运行

### 编译
```bash
cd ~/kuavo_exhibition
catkin build  # 或者 catkin_make
source devel/setup.bash
```

### 将环境变量添加进入 `~/.bashrc`
```bash
echo "# kuavo_exhibition
source ~/kuavo_exhibition/devel/setup.bash --extend" >> ~/.bashrc
```

### 运行
```bash
roslaunch kuavo_exhibition_start kuavo_new_start.launch
```

### 设置开机自启动
参考 [展厅版本开机自启动设置](src/kuavo_exhibition_start/readme.md)

---

## 系统架构

### 代码目录结构

```
kuavo_exhibition/
├── config/                          # 配置文件目录
│   ├── params.yaml                  # 全局参数配置
│   └── action_config.yaml           # 动作配置文件
├── src/
│   ├── kuavo_exhibition_msgs/       # 核心消息和服务定义
│   ├── kuavo_exhibition_start/      # 系统启动模块
│   ├── kuavo_exhibition_play_music/ # 语音管理模块
│   ├── kuavo_exhibition_follow/     # UWB跟随模块
│   ├── kuavo_lidar_nav/             # 激光导航模块
│   ├── kuavo_websocket_pkg/         # WebSocket通信模块
│   ├── kuavo_head_led_control/      # LED灯控制模块
│   ├── kuavo_ros_vision/            # 视觉系统模块
│   │   ├── OrbbecSDK_ROS1/          # 深度摄像头驱动
│   │   └── store_welcome/           # 视觉迎宾系统
│   ├── face_recognition_system/     # 人脸识别系统
│   ├── task_nodes_manager/          # 任务节点管理
│   ├── llm_demo/                    # 大模型对话系统
│   │   ├── kuavo_large_model/       # 主要大模型服务
│   │   ├── doubao_refactor/         # 豆包模型对接
│   │   ├── doubao/                  # 豆包原始版本
│   │   └── kuavo_multimodal/        # 多模态对话
│   ├── local_model/                 # 本地模型推理
│   ├── ros_audio/                   # 音频处理模块
│   │   ├── kuavo_audio_player/      # 音频播放
│   │   └── kuavo_audio_receiver/    # 麦克风接收
│   ├── dx_nav_common/               # 导航公共消息定义
│   ├── tts_flyos-tts_aiui/          # AIUI TTS实现
│   └── kuavo_launch_demo/           # 演示启动器
└── README.md
```

### 模块层次结构

```
┌─────────────────────────────────────────────────────────────────────────┐
│                         应用层 (Application Layer)                       │
│  ┌───────────────┐ ┌───────────────┐ ┌───────────────┐ ┌──────────────┐ │
│  │ kuavo_exhibition_start │ │ task_nodes_manager │ │ llm_demo │ │ store_welcome │ │
│  └───────────────┘ └───────────────┘ └───────────────┘ └──────────────┘ │
├─────────────────────────────────────────────────────────────────────────┤
│                         服务层 (Service Layer)                           │
│  ┌──────────────┐ ┌──────────────┐ ┌──────────────┐ ┌─────────────────┐ │
│  │ voice_manager │ │ kuavo_lidar_nav │ │ audio_player │ │ led_control │ │
│  └──────────────┘ └──────────────┘ └──────────────┘ └─────────────────┘ │
├─────────────────────────────────────────────────────────────────────────┤
│                         通信层 (Communication Layer)                     │
│  ┌──────────────────────┐ ┌───────────────┐ ┌──────────────────────────┐ │
│  │ rosbridge_websocket  │ │ rosapi        │ │ kuavo_websocket_pkg      │ │
│  │ (port: 25432)        │ │               │ │ (HTTP/WebRTC/UDP)        │ │
│  └──────────────────────┘ └───────────────┘ └──────────────────────────┘ │
├─────────────────────────────────────────────────────────────────────────┤
│                         消息层 (Message Layer)                           │
│  ┌──────────────────────┐ ┌──────────────────────┐                      │
│  │ kuavo_exhibition_msgs │ │ dx_nav_common        │                      │
│  └──────────────────────┘ └──────────────────────┘                      │
└────────────────────────────────────────────────────────────────────────┘
```

---

## 工作流程

### 1. 系统启动流程

```
kuavo_new_start.launch
    │
    ├─► ROS Bridge 层
    │   ├─► rosbridge_websocket (WebSocket通信，端口25432)
    │   └─► rosapi (ROS API接口)
    │
    ├─► WebSocket 服务层
    │   ├─► robot_broadcast (机器人状态广播)
    │   ├─► app_robot_control (应用控制)
    │   ├─► cmd_vel_forwarder (速度指令转发)
    │   ├─► camera_manager (摄像头管理)
    │   ├─► vr_action_recordings (VR动作录制)
    │   ├─► wifi_connect_manager (WiFi管理)
    │   ├─► do_action (动作执行)
    │   ├─► map_evaluate_control_server (地图评估)
    │   └─► volume_control_server (音量控制)
    │
    ├─► 语音模块
    │   ├─► voice_clone_manager (语音克隆)
    │   ├─► voice_manager (语音管理服务)
    │   └─► upload_greeting_text_server (问候文本上传)
    │
    ├─► 音频模块 (仅ROBOT_VERSION=52)
    │   ├─► audio_stream_player_node (流式音频播放)
    │   └─► play_music_node (音乐文件播放)
    │
    ├─► 导航模块
    │   ├─► kuavo_lidar_nav_node (激光导航)
    │   ├─► robot_navigation_state_node (导航状态发布)
    │   └─► kuavo_auto_initpose_node (自动初始化位置)
    │
    ├─► 任务管理模块
    |   └─► task_nodes_manager_node (任务/轨迹规划)
    │
    ├─► 大模型模块
    │   ├─► large_model_control_server (大模型服务控制)
    │   └─► update_knowledge_base_service (知识库更新)
    │
    └─► 展示启动模块
        └─► test (展示程序入口)
```

### 2. 导览执行流程

```
用户触发导览任务
    │
    ▼
ExecuteTaskById 或 PubSetTask (发布任务点)
    │
    ▼
task_nodes_manager (解析任务配置)
    │
    ├─► 获取任务点位置和动作配置
    │
    ▼
kuavo_lidar_nav (导航控制)
    │
    ├─► 发布 /srv_set_task 到导航系统
    ├─► 监听 /cmd_vel_nav 速度指令
    ├─► 低通滤波处理
    └─► 转发 /cmd_vel 到底盘
    │
    ▼
robot_navigation_state (状态反馈)
    │
    ├─► 发布 RobotNavigationState (0-4状态码)
    │
    ▼
到达任务点
    │
    ├─► 执行讲解动作 (ExecuteArmAction)
    ├─► 播放语音 (PlayMusic/TTS)
    └─► LED灯效 (SetLEDMode)
    │
    ▼
任务完成
```

### 3. 语音对话流程

```
用户语音输入
    │
    ▼
micphone_receiver_node (音频接收)
    │
    ├─► 发布 AudioReceiverData
    │
    ▼
kuavo_large_model (大模型处理)
    │
    ├─► ASR: 语音转文本 (腾讯云ASR)
    ├─► LLM: 大模型对话 (阿里达摩/豆包)
    ├─► 动作分析: 解析动作指令
    │
    ▼
动作执行 + 语音输出
    │
    ├─► ExecuteArmAction (执行动作)
    ├─► TTS: 文本转语音 (讯飞TTS)
    └─► audio_stream_player (音频播放)
    │
    ▼
扬声器输出
```

### 4. 视觉迎宾流程

```
深度摄像头 (Orbbec)
    │
    ▼
OrbbecSDK_ROS1 驱动
    │
    ├─► /camera/color/image_raw (RGB图像)
    ├─► /camera/depth/image_raw (深度图像)
    │
    ▼
store_welcome (视觉迎宾系统)
    │
    ├─► unified_detector_node (统一检测器)
    │   ├─► MediaPipe (人体姿态检测)
    │   └─► YOLO (物体检测)
    │
    ▼
检测到人员
    │
    ├─► 触发迎宾动作
    ├─► 播放欢迎语音
    └─► 发布 VisionWelcomeStatus
```

---

## 模块功能说明

### kuavo_exhibition_msgs - 消息服务定义库
- **功能**: 定义系统所有自定义消息(msg)和服务(srv)
- **消息数量**: 22个消息定义，36个服务定义
- **说明**: 所有展厅相关的消息和服务统一在此定义，确保接口一致性

### kuavo_exhibition_start - 系统启动模块
- **功能**: 系统一键启动，协调各模块初始化
- **主要文件**:
  - `kuavo_new_start.launch` - 主启动文件
  - `test.py` - 展示程序入口
- **配置**: 通过 `config/params.yaml` 加载全局参数

### kuavo_exhibition_play_music - 语音管理模块
- **功能**: 语音合成、音色管理、问候文本处理
- **节点**:
  - `voice_manager.py` - 音色设置和管理
  - `voice_clone_manager.py` - 语音克隆训练
  - `upload_greeting_text_server.py` - 文本转语音上传
- **配置文件**: `voice.json` (音色列表和默认设置)
- **服务**: SetVoice, SetVoiceSpeed, UploadGreetingText, VoicePlaybackVoice

### ros_audio - 音频处理模块
- **kuavo_audio_player** (音频播放):
  - `audio_stream_player.py` - 流式音频播放
  - `loundspeaker.py` - 音乐文件播放
  - 服务: PlayMusic, audio_status
- **kuavo_audio_receiver** (音频接收):
  - `micphone_receiver_node.py` - 麦克风音频采集
  - 发布: AudioReceiverData

### kuavo_lidar_nav - 激光导航模块
- **功能**: 导航控制、速度转发、状态管理
- **节点**:
  - `kuavo_lidar_nav.py` - 主导航节点
    - 低通滤波平滑速度指令
    - 停止状态检测
    - 任务点发布与执行
  - `robot_navigation_state.py` - 导航状态发布
  - `kuavo_auto_initpose.py` - 自动初始化位置
- **服务**: PubSetTask, ExecuteTaskById, ControlTask, InterruptControl

### task_nodes_manager - 任务节点管理
- **功能**: 任务配置管理、轨迹规划
- **配置路径**: `~/.config/lejuconfig/config`
- **服务**: KuavoTaskEdit, KuavoTaskSort, KuavoTourRoute, KuavoTTSConfig

### kuavo_websocket_pkg - WebSocket通信模块
- **功能**: Web客户端与ROS系统通信桥梁
- **子模块**:
  - `communication_server/main.py` - 多服务器协调
    - `heartbeat_server.py` - 心跳维持
    - `http_file_server.py` - 文件传输
    - `webrtc_server.py` - 视频流
    - `udp_broadcast.py` - UDP广播
  - `app_robot_control/app_robot_rl_control.py` - 应用控制
  - `cmd_vel_forwarder.py` - 速度指令转发
  - `camera_manager/camera_control_server.py` - 摄像头选择
  - `do_action/do_action.py` - 动作执行
  - `vr_action_recordings/rosbag_to_act_frames.py` - VR动作回放
  - `wifi_connect_manager/connect_wifi_server.py` - WiFi配置
  - `map_evaluate_server/map_evaluate_server.py` - 地图评估
  - `volume_control/volume_server.py` - 音量控制
- **端口**: 25432 (WebSocket)

### kuavo_ros_vision - 视觉系统模块
- **OrbbecSDK_ROS1** (深度摄像头驱动):
  - 支持Astra、Gemini、Femto等系列
  - 输出: RGB图像、深度图像、Camera Info、IMU数据
- **store_welcome** (视觉迎宾系统):
  - MediaPipe人体姿态检测
  - YOLO物体检测
  - 统一检测器接口

### face_recognition_system - 人脸识别系统
- **框架**: InsightFace + FaceNet
- **功能**: 实时人脸识别、人脸数据库管理
- **服务**: DetectorControl

### llm_demo - 大模型对话系统
- **kuavo_large_model** (主要大模型):
  - 唤醒词识别 (IVW)
  - 多轮对话
  - 本地知识库
  - 服务: LargeModelControl, UpdateKnowledgeBase
- **doubao_refactor** (豆包模型):
  - 结构化设计
  - 动作分析器
- **kuavo_multimodal** (多模态):
  - 图像+语言理解

### local_model - 本地模型推理
- **功能**: 本地ASR和TTS推理
- **实现**: Sherpa ASR (语音识别), Ollama (本地LLM)
- **服务**: GetPromptInfo, SetPrompt, UserInput, SynthesizeOnce, InterruptModel, InterruptTts

### kuavo_head_led_control - LED控制模块
- **功能**: 头部LED灯模式设置
- **服务**: SetLEDMode (支持10组颜色设置)

### dx_nav_common - 导航公共库
- **功能**: 导航系统消息和服务定义
- **内容**: 37个消息定义，20个服务定义
- **类型**: 底盘信息、电池状态、地图、路线、任务等

### kuavo_exhibition_follow - UWB跟随模块
- **功能**: 基于UWB的人员跟随
- **服务**: FollowControl
- **消息**: UwbData, NuwbData

---

## 接口文档

> **说明**: 展厅版下的话题与服务均增加了 `/kuavo_exhibition` 的前缀

---

## 话题接口

### 导航状态 `/kuavo_exhibition/robot_navigation_state`

* **话题名**: `/kuavo_exhibition/robot_navigation_state`
* **消息类型**: `kuavo_exhibition_msgs/RobotNavigationState`
* **消息格式**:

```
uint8 state
# 0: 导航失败 (包括未启动，导航出道路)
# 1: 导航中
# 2: 导航成功（到达任务点）
# 3: 检测到障碍物，尝试重启
# 4: 检测到障碍物，并且停障超过30S（重启失败败，人工协助）
```

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/kuavo_exhibition/robot_navigation_state",
  "type": "kuavo_exhibition_msgs/RobotNavigationState"
}
```

* **rosbridge 消息接收格式**:

```json
{
  "op": "publish",
  "topic": "/kuavo_exhibition/robot_navigation_state",
  "msg": {
    "state": 1
  }
}
```

---

### 动作执行状态 `/kuavo_exhibition/robot_action_state`

* **话题名**: `/kuavo_exhibition/robot_action_state`
* **消息类型**: `kuavo_exhibition_msgs/RobotActionState`
* **消息格式**:

```
uint8 state
# 0: 失败
# 1: 运行中
# 2: 成功
# 注: 0与2只发一次，1在执行时会一直发
```

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/kuavo_exhibition/robot_action_state",
  "type": "kuavo_exhibition_msgs/RobotActionState"
}
```

* **rosbridge 消息接收格式**:

```json
{
  "op": "publish",
  "topic": "/kuavo_exhibition/robot_action_state",
  "msg": {
    "state": 2
  }
}
```

---

### 配置文件内容 `/kuavo_exhibition/kuavo_task_config_app`

* **话题名**: `/kuavo_exhibition/kuavo_task_config_app`
* **消息类型**: `std_msgs/String`
* **说明**: JSON格式的任务配置信息

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/kuavo_exhibition/kuavo_task_config_app",
  "type": "std_msgs/String"
}
```

---

### 基础动作列表 `/kuavo_exhibition/kuavo_actions_list`

* **话题名**: `/kuavo_exhibition/kuavo_actions_list`
* **消息类型**: `std_msgs/String`
* **说明**: JSON格式的可用动作列表

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/kuavo_exhibition/kuavo_actions_list",
  "type": "std_msgs/String"
}
```

---

### 地图校准位置 `/kuavo_exhibition/init_pose`

* **话题名**: `/kuavo_exhibition/init_pose`
* **消息类型**: `geometry_msgs/Pose`
* **说明**: 订阅app端拾点的坐标用于地图校准，只需填入 position.x 和 position.y

* **rosbridge 发布格式**:

```json
{
  "op": "publish",
  "topic": "/kuavo_exhibition/init_pose",
  "msg": {
    "position": {
      "x": 1.5,
      "y": 2.3,
      "z": 0.0
    },
    "orientation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0,
      "w": 1.0
    }
  }
}
```

---

### 地图校准结果 `/kuavo_exhibition/state_location`

* **话题名**: `/kuavo_exhibition/state_location`
* **消息类型**: `std_msgs/Bool`
* **说明**: True表示校准成功，False表示校准失败

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/kuavo_exhibition/state_location",
  "type": "std_msgs/Bool"
}
```

---

### 起点位置验证 `/kuavo_exhibition/verify_start_position`

* **话题名**: `/kuavo_exhibition/verify_start_position`
* **消息类型**: `std_msgs/Bool`
* **说明**: True表示在起点附近，False表示未在起点附近

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/kuavo_exhibition/verify_start_position",
  "type": "std_msgs/Bool"
}
```

---

### 语音列表 `/voice_list`

* **话题名**: `/voice_list`
* **消息类型**: `kuavo_exhibition_msgs/VoiceList`
* **消息格式**:

```
kuavo_exhibition_msgs/VoiceInfo[] voices
  - string voice_id    # 音色ID，例如 "x4_lingfeichen_assist"
  - string gender      # 性别，"male" / "female"
```

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/voice_list",
  "type": "kuavo_exhibition_msgs/VoiceList"
}
```

---

### ���前音色 `/current_voice`

* **话题名**: `/current_voice`
* **消息类型**: `std_msgs/String`

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/current_voice",
  "type": "std_msgs/String"
}
```

---

### 当前语速 `/current_speed`

* **话题名**: `/current_speed`
* **消息类型**: `std_msgs/Float32`

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/current_speed",
  "type": "std_msgs/Float32"
}
```

---

### 大模型状态 `/large_model_status`

* **话题名**: `/large_model_status`
* **消息类型**: `kuavo_exhibition_msgs/LargeModelStatus`
* **消息格式**:

```
bool running
int32 status_code
string message
time stamp
```

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/large_model_status",
  "type": "kuavo_exhibition_msgs/LargeModelStatus"
}
```

---

### 音频播放状态 `/audio_playback_status`

* **话题名**: `/audio_playback_status`
* **消息类型**: `kuavo_exhibition_msgs/AudioPlaybackStatus`
* **消息格式**:

```
std_msgs/Header header
bool playing      # 是否正在播放
string message    # 状态信息
int32 buffer_size # 缓冲区大小
```

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/audio_playback_status",
  "type": "kuavo_exhibition_msgs/AudioPlaybackStatus"
}
```

---

### 视觉迎宾状态 `/vision_welcome_status`

* **话题名**: `/vision_welcome_status`
* **消息类型**: `kuavo_exhibition_msgs/VisionWelcomeStatus`
* **消息格式**:

```
int32 status_code
# 0 = 未运行
# 1 = 摄像头已开启
# 2 = 检测程序已开启
# 3 = 摄像头和检测程序都已开启
# -1 = 异常/运行失败

string message  # 状态描述
```

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/vision_welcome_status",
  "type": "kuavo_exhibition_msgs/VisionWelcomeStatus"
}
```

---

### UWB定位数据 `/uwb_data`

* **话题名**: `/uwb_data`
* **消息类型**: `kuavo_exhibition_msgs/UwbData`
* **消息格式**:

```
float32 distance   # 距离（米）
float32 angle      # 角度（度）
float32 x          # X坐标（米）
float32 y          # Y坐标（米）
uint8 confidence   # 置信度（0~100）
```

* **rosbridge 订阅格式**:

```json
{
  "op": "subscribe",
  "topic": "/uwb_data",
  "type": "kuavo_exhibition_msgs/UwbData"
}
```

---

## 服务接口

---

### 单点讲解发布服务 `/kuavo_exhibition/execute_task_by_id`

* **服务名**: `/kuavo_exhibition/execute_task_by_id`
* **服务类型**: `kuavo_exhibition_msgs/ExecuteTaskById`
* **服务格式**:

```
int32 task_id
---
bool success
string message
```

* **示例调用**:
```bash
rosservice call /kuavo_exhibition/execute_task_by_id "{task_id: 3}"
```

* **说明**: 先执行导航到任务点3，然后到达任务点3以后执行讲解动作，结束讲解动作以后原地站立

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/execute_task_by_id",
  "args": {
    "task_id": 3
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/execute_task_by_id",
  "values": {
    "success": true,
    "message": "任务执行成功"
  },
  "result": true
}
```

---

### 任务点发布服务 `/kuavo_exhibition/pub_set_task`

* **服务名**: `/kuavo_exhibition/pub_set_task`
* **服务类型**: `kuavo_exhibition_msgs/PubSetTask`
* **服务格式**:

```
string cmd_attr  # 指令类型：New（发布）或 Cancel（取消）
int32 task_id    # 任务点ID
---
string cmd_res   # 返回server接收到的命令
int32 state_execute
# 命令执行状态:
# 0-成功
# 1-机器人当前位姿未知
# 2-当前位姿不在道路内
# 3-目标位姿不在道路内
string info      # 反馈信息
```

* **示例调用**:
```bash
rosservice call /kuavo_exhibition/pub_set_task "{cmd_attr: 'New', task_id: 1}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/pub_set_task",
  "args": {
    "cmd_attr": "New",
    "task_id": 1
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/pub_set_task",
  "values": {
    "cmd_res": "New",
    "state_execute": 0,
    "info": "任务发布成功"
  },
  "result": true
}
```

---

### 任务控制服务 `/kuavo_exhibition/control_task`

* **服务名**: `/kuavo_exhibition/control_task`
* **服务类型**: `kuavo_exhibition_msgs/ControlTask`
* **服务格式**:

```
string command   # 命令类型: "shutdown", "pause", "resume"
---
bool success     # 执行是否成功
string message   # 返回消息
```

* **示例调用**:
```bash
rosservice call /kuavo_exhibition/control_task "{command: 'pause'}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/control_task",
  "args": {
    "command": "pause"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/control_task",
  "values": {
    "success": true,
    "message": "任务已暂停"
  },
  "result": true
}
```

---

### 导览打断服务 `/kuavo_exhibition/interrupt_control`

* **服务名**: `/kuavo_exhibition/interrupt_control`
* **服务类型**: `kuavo_exhibition_msgs/InterruptControl`
* **服务格式**:

```
string command   # 命令类型: "shutdown", "pause", "resume"
# shutdown - 终止程序
# pause    - 暂停程序
# resume   - 恢复程序
---
bool success     # 执行是否成功
string message   # 返回消息
```

* **示例调用**:
```bash
rosservice call /kuavo_exhibition/interrupt_control "{command: 'shutdown'}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/interrupt_control",
  "args": {
    "command": "shutdown"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/interrupt_control",
  "values": {
    "success": true,
    "message": "程序已终止"
  },
  "result": true
}
```

---

### 播放音乐服务 `/kuavo_exhibition/play_music`

* **服务名**: `/kuavo_exhibition/play_music`
* **服务类型**: `kuavo_exhibition_msgs/PlayMusic`
* **服务格式**:

```
string music_number  # 音乐文件名或编号
int64 volume         # 音量 (0-100)
---
bool success_flag    # 播放是否成功
```

* **示例调用**:
```bash
rosservice call /kuavo_exhibition/play_music "{music_number: 'welcome.wav', volume: 80}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/play_music",
  "args": {
    "music_number": "welcome.wav",
    "volume": 80
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/play_music",
  "values": {
    "success_flag": true
  },
  "result": true
}
```

---

### 执行动作服务 `/kuavo_exhibition/execute_arm_action`

* **服务名**: `/kuavo_exhibition/execute_arm_action`
* **服务类型**: `kuavo_exhibition_msgs/ExecuteArmAction`
* **服务格式**:

```
string action_name  # 要执行的动作名称，例如 "welcome"
---
bool success        # 执行是否成功
string message      # 返回的消息
```

* **说明**: 该服务立即返回，如需知道动作完成情况，请监听 `/kuavo_exhibition/robot_action_state`

* **示例调用**:
```bash
rosservice call /kuavo_exhibition/execute_arm_action "{action_name: 'welcome'}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/execute_arm_action",
  "args": {
    "action_name": "welcome"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/execute_arm_action",
  "values": {
    "success": true,
    "message": "动作开始执行"
  },
  "result": true
}
```

---

### 设置音色服务 `/set_voice`

* **服务名**: `/set_voice`
* **服务类型**: `kuavo_exhibition_msgs/SetVoice`
* **服务格式**:

```
string voice_id    # 音色ID，例如 "x4_lingfeichen_assist"
---
bool success       # 是否成功
string message     # 返回消息
```

* **示例调用**:
```bash
rosservice call /set_voice "{voice_id: 'x4_lingfeichen_assist'}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/set_voice",
  "args": {
    "voice_id": "x4_lingfeichen_assist"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/set_voice",
  "values": {
    "success": true,
    "message": "音色设置成功"
  },
  "result": true
}
```

---

### 设置语速服务 `/set_voice_speed`

* **服务名**: `/set_voice_speed`
* **服务类型**: `kuavo_exhibition_msgs/SetVoiceSpeed`
* **服务格式**:

```
float32 speed  # 语速 (0.5-2.0, 1.0为正常速度)
---
bool success
string message
```

* **示例调用**:
```bash
rosservice call /set_voice_speed "{speed: 1.2}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/set_voice_speed",
  "args": {
    "speed": 1.2
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/set_voice_speed",
  "values": {
    "success": true,
    "message": "语速设置成功"
  },
  "result": true
}
```

---

### 上传问候文本服务 `/upload_greeting_text`

* **服务名**: `/upload_greeting_text`
* **服务类型**: `kuavo_exhibition_msgs/UploadGreetingText`
* **服务格式**:

```
string type     # 类型:
                # "welcome"   : 欢迎词（保存为 welcome.wav）
                # "farewell"  : 告���词（保存为 farewell.wav）
                # "walk_talk" : 边走边说解说词（保存为 walk_talk_<id>.wav）
                # "point_talk": 点位解说词（保存为 point_talk_<id>.wav）
string content  # 文本内容
int32 id        # 边走边说/点位解说时必须提供的ID
---
bool success
string message
string name     # 生成的文件名
```

* **示例调用**:
```bash
rosservice call /upload_greeting_text "{type: 'welcome', content: '欢迎来到展厅', id: 0}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/upload_greeting_text",
  "args": {
    "type": "welcome",
    "content": "欢迎来到展厅",
    "id": 0
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/upload_greeting_text",
  "values": {
    "success": true,
    "message": "文本转语音成功",
    "name": "welcome.wav"
  },
  "result": true
}
```

---

### 语音回放控制服务 `/voice_playback_voice`

* **服务名**: `/voice_playback_voice`
* **服务类型**: `kuavo_exhibition_msgs/VoicePlaybackVoice`
* **服务格式**:

```
bool enable  # true启用，false禁用
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/voice_playback_voice",
  "args": {
    "enable": true
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/voice_playback_voice",
  "values": {
    "success": true,
    "message": "语音回放已启用"
  },
  "result": true
}
```

---

### 语音录制控制服务 `/voice_record_control`

* **服务名**: `/voice_record_control`
* **服务类型**: `kuavo_exhibition_msgs/VoiceRecordControl`
* **服务格式**:

```
string command  # "start" 或 "stop"
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/voice_record_control",
  "args": {
    "command": "start"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/voice_record_control",
  "values": {
    "success": true,
    "message": "录制已开始"
  },
  "result": true
}
```

---

### 保存语音录制服务 `/save_voice_record`

* **服务名**: `/save_voice_record`
* **服务类型**: `kuavo_exhibition_msgs/SaveVoiceRecord`
* **服务格式**:

```
string name  # 保存的文件名
---
bool success
string message
string filepath  # 保存的文件路径
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/save_voice_record",
  "args": {
    "name": "my_voice"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/save_voice_record",
  "values": {
    "success": true,
    "message": "录音保存成功",
    "filepath": "/home/leju_kuavo/.config/lejuconfig/voice_records/my_voice.wav"
  },
  "result": true
}
```

---

### 录制音乐服务 `/record_music`

* **服务名**: `/record_music`
* **服务类型**: `kuavo_exhibition_msgs/RecordMusic`
* **服务格式**:

```
string music_number  # 音乐编号
int64 time_out       # 超时时间(秒)
---
bool success_flag
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/record_music",
  "args": {
    "music_number": "001",
    "time_out": 60
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/record_music",
  "values": {
    "success_flag": true
  },
  "result": true
}
```

---

### 任务配置编辑服务 `/kuavo_exhibition/kuavo_task_edit`

* **服务名**: `/kuavo_exhibition/kuavo_task_edit`
* **服务类型**: `kuavo_exhibition_msgs/KuavoTaskEdit`
* **服务格式**:

```
int32 task_id                        # 必填，任务ID
string[] description_list            # 任务描述列表���默认为空
string[] action_list                 # 动作列表，默认为空
bool led_status                      # LED状态，默认False
bool use_large_model_conversation    # 是否使用大模型对话，默认False
bool walk_with_music                 # 是否边走边播放音乐，默认False
string[] walk_music                  # 行走音乐列表，默认为空
---
bool success
string message
```

* **示例调用**:
```bash
rosservice call /kuavo_exhibition/kuavo_task_edit "{task_id: 1, description_list: ['欢迎词'], action_list: ['welcome'], led_status: true, use_large_model_conversation: false, walk_with_music: true, walk_music: ['walk1.wav']}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/kuavo_task_edit",
  "args": {
    "task_id": 1,
    "description_list": ["欢迎词"],
    "action_list": ["welcome"],
    "led_status": true,
    "use_large_model_conversation": false,
    "walk_with_music": true,
    "walk_music": ["walk1.wav"]
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/kuavo_task_edit",
  "values": {
    "success": true,
    "message": "任务配置更新成功"
  },
  "result": true
}
```

---

### 任务点程序服务 `/kuavo_exhibition/kuavo_task_sort`

* **服务名**: `/kuavo_exhibition/kuavo_task_sort`
* **服务类型**: `kuavo_exhibition_msgs/KuavoTaskSort`
* **服务格式**:

```
int32[] task_ids   # 任务ID数组，表示排序顺序
---
bool success
string message
```

* **示例调用**:
```bash
rosservice call /kuavo_exhibition/kuavo_task_sort "{task_ids: [3, 1, 2, 4]}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/kuavo_task_sort",
  "args": {
    "task_ids": [3, 1, 2, 4]
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/kuavo_task_sort",
  "values": {
    "success": true,
    "message": "任务排序成功"
  },
  "result": true
}
```

---

### 巡游路线管理服务 `/kuavo_tour_route`

* **服务名**: `/kuavo_tour_route`
* **服务类型**: `kuavo_exhibition_msgs/KuavoTourRoute`
* **服务格式**:

```
string operation      # 操作类型: "add", "delete", "update", "list"
int32 route_id        # 路线ID（delete/update时必填）
string route_name     # 路线名称（add/update时使用）
int32[] task_sequence # 任务点顺序（add/update时使用）
string description    # 描述字段（add/update时使用）
---
bool success
string message
string routes_json    # 所有路线的JSON字符串
```

* **示例调用 - 添加路线**:
```bash
rosservice call /kuavo_tour_route "{operation: 'add', route_id: 0, route_name: '展厅A路线', task_sequence: [1, 2, 3, 4], description: '展厅A的导览路线'}"
```

* **rosbridge 服务请求格式 (添加路线)**:

```json
{
  "op": "call_service",
  "service": "/kuavo_tour_route",
  "args": {
    "operation": "add",
    "route_id": 0,
    "route_name": "展厅A路线",
    "task_sequence": [1, 2, 3, 4],
    "description": "展厅A的导览路线"
  }
}
```

* **rosbridge 服务请求格式 (列出所有路线)**:

```json
{
  "op": "call_service",
  "service": "/kuavo_tour_route",
  "args": {
    "operation": "list",
    "route_id": 0,
    "route_name": "",
    "task_sequence": [],
    "description": ""
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_tour_route",
  "values": {
    "success": true,
    "message": "路线添加成功",
    "routes_json": "[{\"id\": 1, \"name\": \"展厅A路线\", \"tasks\": [1, 2, 3, 4]}]"
  },
  "result": true
}
```

---

### TTS配置服务 `/kuavo_tts_config`

* **服务名**: `/kuavo_tts_config`
* **服务类型**: `kuavo_exhibition_msgs/KuavoTTSConfig`
* **服务格式**:

```
string operation          # 操作类型: add, delete, update, update_batch, list, update_greeting, update_farewell
int32 task_id            # 任务点ID
string task_name         # 任务点名称
string walk_music        # 行走语音
string point_music       # 到达任务点语音
string action_name       # 动作名称
string greeting_music    # 迎宾行走语音（update_greeting时使用）
string greeting_action   # 迎宾动作名称（update_greeting时使用）
string farewell_music    # 送客行走语音（update_farewell时使用）
string farewell_action   # 送客动作名称（update_farewell时使用）
string batch_data        # 批量更新时的JSON数据
---
bool success
string message
string data              # JSON格式的返回数据
```

* **rosbridge 服务请求格式 (更新任务点TTS)**:

```json
{
  "op": "call_service",
  "service": "/kuavo_tts_config",
  "args": {
    "operation": "update",
    "task_id": 1,
    "task_name": "展区A",
    "walk_music": "walk_to_a.wav",
    "point_music": "arrived_a.wav",
    "action_name": "welcome",
    "greeting_music": "",
    "greeting_action": "",
    "farewell_music": "",
    "farewell_action": "",
    "batch_data": ""
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_tts_config",
  "values": {
    "success": true,
    "message": "TTS配置更新成功",
    "data": "{\"task_id\": 1, \"task_name\": \"展区A\"}"
  },
  "result": true
}
```

---

### LED灯模式设置服务 `/kuavo_exhibition/set_led_mode`

* **服务名**: `/kuavo_exhibition/set_led_mode`
* **服务类型**: `kuavo_exhibition_msgs/SetLEDMode`
* **服务格式**:

```
uint8 mode        # LED模式
uint8[3] color1   # 颜色1 [R, G, B]
uint8[3] color2   # 颜色2 [R, G, B]
uint8[3] color3   # 颜色3 [R, G, B]
uint8[3] color4   # 颜色4 [R, G, B]
uint8[3] color5   # 颜色5 [R, G, B]
uint8[3] color6   # 颜色6 [R, G, B]
uint8[3] color7   # 颜色7 [R, G, B]
uint8[3] color8   # 颜色8 [R, G, B]
uint8[3] color9   # 颜色9 [R, G, B]
uint8[3] color10  # 颜色10 [R, G, B]
---
bool success
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/set_led_mode",
  "args": {
    "mode": 1,
    "color1": [255, 0, 0],
    "color2": [0, 255, 0],
    "color3": [0, 0, 255],
    "color4": [255, 255, 0],
    "color5": [255, 0, 255],
    "color6": [0, 255, 255],
    "color7": [255, 255, 255],
    "color8": [128, 128, 128],
    "color9": [64, 64, 64],
    "color10": [0, 0, 0]
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/set_led_mode",
  "values": {
    "success": true
  },
  "result": true
}
```

---

### 灯带开关控制服务 `/kuavo_exhibition/kuavo_head_led_control`

* **服务名**: `/kuavo_exhibition/kuavo_head_led_control`
* **服务类型**: `std_srvs/SetBool`
* **服务格式**:

```
bool data  # true开启，false关闭
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/kuavo_exhibition/kuavo_head_led_control",
  "args": {
    "data": true
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/kuavo_exhibition/kuavo_head_led_control",
  "values": {
    "success": true,
    "message": "LED已开启"
  },
  "result": true
}
```

---

### 音量控制服务 `/set_volume`

* **服务名**: `/set_volume`
* **服务类型**: `kuavo_exhibition_msgs/SetVolume`
* **服务格式**:

```
int32 volume_value  # 0-100的音量数值
---
bool success
string message
```

* **示例调用**:
```bash
rosservice call /set_volume "{volume_value: 50}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/set_volume",
  "args": {
    "volume_value": 50
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/set_volume",
  "values": {
    "success": true,
    "message": "音量设置为50%成功"
  },
  "result": true
}
```

---

### WiFi连接服务 `/connect_wifi`

* **服务名**: `/connect_wifi`
* **服务类型**: `kuavo_exhibition_msgs/ConnectWifi`
* **服务格式**:

```
string ssid      # WiFi的SSID
string password  # WiFi的密码
---
bool success
string message
```

* **示例调用**:
```bash
rosservice call /connect_wifi "{ssid: 'MyWiFi', password: 'password123'}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/connect_wifi",
  "args": {
    "ssid": "MyWiFi",
    "password": "password123"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/connect_wifi",
  "values": {
    "success": true,
    "message": "Wi-Fi连接成功！"
  },
  "result": true
}
```

---

### 二维码WiFi配置服务 `/qr_wifi_config`

* **服务名**: `/qr_wifi_config`
* **服务类型**: `kuavo_exhibition_msgs/QrWifiConfig`
* **服务格式**:

```
string command  # "start" 或 "stop"
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/qr_wifi_config",
  "args": {
    "command": "start"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/qr_wifi_config",
  "values": {
    "success": true,
    "message": "二维码WiFi配置已启动"
  },
  "result": true
}
```

---

### 摄像头控制服务 `/camera_control`

* **服务名**: `/camera_control`
* **服务类型**: `kuavo_exhibition_msgs/CameraControl`
* **服务格式**:

```
string command  # "start" 或 "stop"
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/camera_control",
  "args": {
    "command": "start"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/camera_control",
  "values": {
    "success": true,
    "message": "摄像头已启动"
  },
  "result": true
}
```

---

### 大模型控制服务 `/large_model_control`

* **服务名**: `/large_model_control`
* **服务类型**: `kuavo_exhibition_msgs/LargeModelControl`
* **服务格式**:

```
string command  # "start" 或 "stop"
---
bool success
string message
```

* **示例调用**:
```bash
rosservice call /large_model_control "{command: 'start'}"
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/large_model_control",
  "args": {
    "command": "start"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/large_model_control",
  "values": {
    "success": true,
    "message": "大模型服务已启动"
  },
  "result": true
}
```

---

### 更新知识库服务 `/update_knowledge_base`

* **服务名**: `/update_knowledge_base`
* **服务类型**: `kuavo_large_model/UpdateKnowledgeBase`
* **服务格式**:

```
string file_name  # 文件路径，默认存储在 /home/leju_kuavo/.config/lejuconfig/knowledge_base 下
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/update_knowledge_base",
  "args": {
    "file_name": "new_knowledge.txt"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/update_knowledge_base",
  "values": {
    "success": true,
    "message": "知识库更新成功"
  },
  "result": true
}
```

---

### 视觉迎宾控制服务 `/vision_welcome_control`

* **服务名**: `/vision_welcome_control`
* **服务类型**: `kuavo_exhibition_msgs/VisionWelcomeControl`
* **服务格式**:

```
bool enable  # true = 开启视觉迎宾, false = 关闭视觉迎宾
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/vision_welcome_control",
  "args": {
    "enable": true
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/vision_welcome_control",
  "values": {
    "success": true,
    "message": "视觉迎宾已开启"
  },
  "result": true
}
```

---

### 检测器控制服务 `/detector_control`

* **服务名**: `/detector_control`
* **服务类型**: `kuavo_exhibition_msgs/DetectorControl`
* **服务格式**:

```
bool enable        # true=启动识别器, false=停止识别器
string command     # "start", "stop", "status", "restart"
---
bool success       # 操作是否成功
bool is_running    # 当前识别器运行状态
string message     # 状态消息或错误信息
string detector_type  # 当前使用的检测器类型 ("yolo"/"mediapipe")
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/detector_control",
  "args": {
    "enable": true,
    "command": "start"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/detector_control",
  "values": {
    "success": true,
    "is_running": true,
    "message": "检测器已启动",
    "detector_type": "yolo"
  },
  "result": true
}
```

---

### 地图评估控制服务 `/map_evaluate_control`

* **服务名**: `/map_evaluate_control`
* **服务类型**: `kuavo_exhibition_msgs/MapEvaluateControl`
* **服务格式**:

```
string command  # 指令：start/stop
---
bool success
string message
```

* **rosbridge 服��请求格式**:

```json
{
  "op": "call_service",
  "service": "/map_evaluate_control",
  "args": {
    "command": "start"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/map_evaluate_control",
  "values": {
    "success": true,
    "message": "地图评估已启动"
  },
  "result": true
}
```

---

### 跟随控制服务 `/follow_control`

* **服务名**: `/follow_control`
* **服务类型**: `kuavo_exhibition_msgs/FollowControl`
* **服务格式**:

```
int8 mode  # 跟随模式
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/follow_control",
  "args": {
    "mode": 1
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/follow_control",
  "values": {
    "success": true,
    "message": "跟随模式已切换"
  },
  "result": true
}
```

---

### 应用控制服务 `/app_control`

* **服务名**: `/app_control`
* **服务类型**: `kuavo_exhibition_msgs/AppControl`
* **服务格式**:

```
string mode  # 控制模式
---
bool success
string message
string current_state  # 当前状态
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/app_control",
  "args": {
    "mode": "start"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/app_control",
  "values": {
    "success": true,
    "message": "应用控制成功",
    "current_state": "running"
  },
  "result": true
}
```

---

### 启动展示程序服务 `/start_exhibition_program`

* **服务名**: `/start_exhibition_program`
* **服务类型**: `kuavo_exhibition_msgs/StartExhibitionProgram`
* **服务格式**:

```
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/start_exhibition_program",
  "args": {}
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/start_exhibition_program",
  "values": {
    "success": true,
    "message": "展示程序已启动"
  },
  "result": true
}
```

---

### 启动/停止脚本服务 `/start_stop_script`

* **服务名**: `/start_stop_script`
* **服务类型**: `kuavo_exhibition_msgs/StartStopScript`
* **服务格式**:

```
string script_path  # 脚本路径
bool start          # true启动，false停止
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/start_stop_script",
  "args": {
    "script_path": "/path/to/script.py",
    "start": true
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/start_stop_script",
  "values": {
    "success": true,
    "message": "脚本已启动"
  },
  "result": true
}
```

---

### VR动作录制服务 `/vr_arm_action_record`

* **服务名**: `/vr_arm_action_record`
* **服务类型**: `kuavo_exhibition_msgs/VrArmActionRecord`
* **服务格式**:

```
string command  # 录制命令
---
bool success
string message
string output_filename  # 输出文件名
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/vr_arm_action_record",
  "args": {
    "command": "start"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/vr_arm_action_record",
  "values": {
    "success": true,
    "message": "录制已开始",
    "output_filename": "action_20240101_120000.bag"
  },
  "result": true
}
```

---

### 设置唤醒词服务 `/set_wake_word`

* **服务名**: `/set_wake_word`
* **服务类型**: `kuavo_exhibition_msgs/SetWakeWord`
* **服务格式**:

```
string wake_word  # 新的唤醒词
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/set_wake_word",
  "args": {
    "wake_word": "夸父夸父"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/set_wake_word",
  "values": {
    "success": true,
    "message": "唤醒词已更新为: 夸父夸父"
  },
  "result": true
}
```

---

### 机械臂控制模式切换服务 `/arm_traj_change_mode`

* **服务名**: `/arm_traj_change_mode`
* **服务类型**: `kuavo_exhibition_msgs/ChangeArmCtrlModeOcs2`
* **服务格式**:

```
int32 control_mode  # 0: keep pose, 1: auto_swing_arm, 2: external_control
---
bool result
int32 mode
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/arm_traj_change_mode",
  "args": {
    "control_mode": 1
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/arm_traj_change_mode",
  "values": {
    "result": true,
    "mode": 1,
    "message": "控制模式已切换为自动摆臂"
  },
  "result": true
}
```

---

### 贝塞尔曲线轨迹规划服务 `/plan_arm_trajectory_bezier_curve`

* **服务名**: `/plan_arm_trajectory_bezier_curve`
* **服务类型**: `kuavo_exhibition_msgs/PlanArmTrajectoryBezierCurve`
* **服务格式**:

```
JointBezierTrajectory[] multi_joint_bezier_trajectory
float64 start_frame_time
float64 end_frame_time
string[] joint_names
---
bool success
```

* **rosbridge 服务��求格式**:

```json
{
  "op": "call_service",
  "service": "/plan_arm_trajectory_bezier_curve",
  "args": {
    "multi_joint_bezier_trajectory": [],
    "start_frame_time": 0.0,
    "end_frame_time": 5.0,
    "joint_names": ["joint1", "joint2"]
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/plan_arm_trajectory_bezier_curve",
  "values": {
    "success": true
  },
  "result": true
}
```

---

### 三次样条轨迹规划服务 `/plan_arm_trajectory_cubic_spline`

* **服务名**: `/plan_arm_trajectory_cubic_spline`
* **服务类型**: `kuavo_exhibition_msgs/PlanArmTrajectoryCubicSpline`
* **服务格式**:

```
trajectory_msgs/JointTrajectory trajectory
---
bool success
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/plan_arm_trajectory_cubic_spline",
  "args": {
    "trajectory": {
      "header": {"stamp": {"secs": 0, "nsecs": 0}, "frame_id": ""},
      "joint_names": ["joint1", "joint2"],
      "points": []
    }
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/plan_arm_trajectory_cubic_spline",
  "values": {
    "success": true
  },
  "result": true
}
```

---

### 音频状态查询服务 `/audio_status`

* **服务名**: `/audio_status`
* **服务类型**: `kuavo_audio_player/audio_status`
* **服务格式**:

```
---
bool is_playing  # true表示正在播放，false表示空闲
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/audio_status",
  "args": {}
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/audio_status",
  "values": {
    "is_playing": false
  },
  "result": true
}
```

---

### 本地模型 - 获取提示词信息服务 `/get_prompt_info`

* **服务名**: `/get_prompt_info`
* **服务类型**: `local_model/GetPromptInfo`
* **服务格式**:

```
---
string name
string exhibition_name
string system_prompt
string[] action_lists
string[] navigation_lists
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/get_prompt_info",
  "args": {}
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/get_prompt_info",
  "values": {
    "name": "夸父",
    "exhibition_name": "科技展厅",
    "system_prompt": "你是一个展厅导览机器���...",
    "action_lists": ["welcome", "wave", "bow"],
    "navigation_lists": ["展区A", "展区B", "展区C"]
  },
  "result": true
}
```

---

### 本地模型 - 设置提示词服务 `/set_prompt`

* **服务名**: `/set_prompt`
* **服务类型**: `local_model/SetPrompt`
* **服务格式**:

```
string name
string exhibition_name
string system_prompt
string[] action_lists
string[] navigation_lists
---
bool success
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/set_prompt",
  "args": {
    "name": "夸父",
    "exhibition_name": "科技展厅",
    "system_prompt": "你是一个展厅导览机器人...",
    "action_lists": ["welcome", "wave"],
    "navigation_lists": ["展区A", "展区B"]
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/set_prompt",
  "values": {
    "success": true
  },
  "result": true
}
```

---

### 本地模型 - 用户输入服务 `/user_input`

* **服务名**: `/user_input`
* **服务类型**: `local_model/UserInput`
* **服务格式**:

```
string input  # 用户输入文本
---
bool success
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/user_input",
  "args": {
    "input": "请介绍一下展区A"
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/user_input",
  "values": {
    "success": true
  },
  "result": true
}
```

---

### 本地模型 - 单次合成服务 `/synthesize_once`

* **服务名**: `/synthesize_once`
* **服务类型**: `local_model/SynthesizeOnce`
* **服务格式**:

```
string text    # 要合成的文本
int32 sid      # 说话人ID
float32 speed  # 语速
---
bool success
string message
std_msgs/Int16MultiArray audio  # 音��数据
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/synthesize_once",
  "args": {
    "text": "欢迎来到展厅",
    "sid": 0,
    "speed": 1.0
  }
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/synthesize_once",
  "values": {
    "success": true,
    "message": "合成成功",
    "audio": {"layout": {"dim": [], "data_offset": 0}, "data": []}
  },
  "result": true
}
```

---

### 本地模型 - 中断模型服务 `/interrupt_model`

* **服务名**: `/interrupt_model`
* **服务类型**: `local_model/InterruptModel`
* **服务��式**:

```
---
bool success
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/interrupt_model",
  "args": {}
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/interrupt_model",
  "values": {
    "success": true
  },
  "result": true
}
```

---

### 本地模型 - 中断TTS服务 `/interrupt_tts`

* **服务名**: `/interrupt_tts`
* **服务类型**: `local_model/InterruptTts`
* **服务格式**:

```
---
bool success
string message
```

* **rosbridge 服务请求格式**:

```json
{
  "op": "call_service",
  "service": "/interrupt_tts",
  "args": {}
}
```

* **rosbridge 服务响应格式**:

```json
{
  "op": "service_response",
  "service": "/interrupt_tts",
  "values": {
    "success": true,
    "message": "TTS已中断"
  },
  "result": true
}
```

---

## 配置文件说明

### config/params.yaml

主要配置参数：

| 参数 | 说明 | 默��值 |
|------|------|--------|
| `music_directory` | 音乐文件目录 | `~/.config/lejuconfig/music/` |
| `action_files_path` | 动作文件目录 | `~/.config/lejuconfig/actions/` |
| `camera_color_image_rotate_180` | 彩色相机是否旋转180度 | `false` |
| `camera_depth_image_rotate_180` | 深度相机是否旋转180度 | `false` |
| `audio_playback_mode` | 音���播放方式 | `ros` |
| `init_pose.init_method` | 初始化方式 | `Station` |
| `init_pose.station_id` | 初始化站点ID | `4` |

### 用户配置目录

路径: `~/.config/lejuconfig/`

```
~/.config/lejuconfig/
├── config/          # 任��配置
├── musics/          # 音乐文件
├── actions/         # 动作文件
├── voice_records/   # 语音录制
└── knowledge_base/  # 知识库文件
```

---

## 环境变量

| 变量名 | 说明 | 示例 |
|--------|------|------|
| `ROBOT_VERSION` | 机器人版本号 | `52` |
| `HOME` | 家目录 | `/home/leju_kuavo` |

---

## 常见问题

### Q: 如何测试服务是否正常？
```bash
# 列出所有服务
rosservice list | grep kuavo

# 测试单点讲解
rosservice call /kuavo_exhibition/execute_task_by_id "{task_id: 1}"

# 测试音乐播放
rosservice call /kuavo_exhibition/play_music "{music_number: 'welcome.wav', volume: 80}"
```

### Q: WebSocket连接地址是什么？
默认地址: `ws://<机器人IP>:25432`

### Q: 如何查看当前导航状态？
```bash
rostopic echo /kuavo_exhibition/robot_navigation_state
```

---

## 版本信息

- ROS版本: Noetic (ROS1)
- 平台: Linux (Tegra)
- 更新日期: 2024