• 在vioce_system 包中的src文件夹下创建一个tuling_nlu.cpp文件
• 以下是tuling_nlu.cpp的内容（注意，需要把代码中的key改为自己创建机器人的key，把 curl_easy_setopt(pCurl, CURLOPT_URL, "http://openapi.tuling123.com/openapi/api"); 
  中的网址改为自己机器人的接口地址，这个地址可以在机器人的api文档中找到）

• #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\","; //双引号前加／防转仪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 stuffcurl_global_init(CURL_GLOBAL_ALL);// get a curl handlepCurl = curl_easy_init();if (NULL != pCurl){// 设置超时时间为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");// 设置http发送的内容类型为JSONcurl_slist *plist = curl_slist_append(NULL,"Content-Type:application/json;charset=UTF-8");curl_easy_setopt(pCurl, CURLOPT_HTTPHEADER, plist);// 设置要POST的JSON数据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 coderes = curl_easy_perform(pCurl);// Check for errorsif (res != CURLE_OK){printf("curl_easy_perform() failed:%s\n", curl_easy_strerror(res));}// always cleanupcurl_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文件中加入

• 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编译一下
• $ cd catkin_ws
• $ catkin_make
• 现在就可以和机器人对话了
• 首先roscore一下，在catkin_ws下运行xf_tts_node节点和tuling_nlu_node节点
• $ rosrun voice_system xf_tts_node
• $ rosrun voice_system tuling_nlu_node
• $ rostopic pub -1 /voice/tuling_nlu_topic std_msgs/String "明天东莞天气"
• 在此，你便能听到图灵机器人的回复了
  

该文章主要是对自己学习的一些总结，方便以后学习，也对学习该方面的人提供一些帮助，如有问题请指出。

同时该文章也借鉴了ros小课堂的一些内容。