def run(self):
""" run ros node """
# initialize ros node
rospy.init_node('ChatTRCP')
rospy.loginfo("start DoCoMo Chat TRCP node")
""" for ROSpeexInterface """
self.rospeex = ROSpeexInterface()
self.rospeex.init()
self.rospeex.register_sr_response(self.sr_response)
"""日本語（英語もある）でNICT(Googleもある)"""
"""launchファイ決めてもいいけど、動的に変更する？"""
"""とりあえず、現状は決め打ち"""
self.lang = 'ja'
# self.input_engine = 'nict'
self.input_engine = 'google'
self.rospeex.set_spi_config(language='ja', engine='google')
# self.rospeex.set_spi_config(language=self.lang, engine=self.input_engine)
""" 発話理解APIの準備 """
self.req = DoCoMoUnderstandingReq()
self.req.projectKey = 'OSU'
self.req.appName = ''
self.req.appKey = 'hoge_app01'
self.req.clientVer = '1.0.0'
self.req.dialogMode = 'off'
self.req.language = 'ja'
self.req.userId = '12 123456 123456 0'
self.req.lat = '139.766084'
self.req.lon = '35.681382'
""" 雑談対話APIの準備 """
self.req_chat = DoCoMoChatReq()
self.req_chat.utt = ""
self.req_chat.context = _chat_["context"]
self.req_chat.nickname = _chat_["nickname"]
self.req_chat.nickname_y = _chat_["nickname_y"]
self.req_chat.sex = _chat_["sex"]
self.req_chat.bloodtype = _chat_["bloodtype"]
self.req_chat.birthdateY = _chat_["birthdateY"]
self.req_chat.birthdateM = _chat_["birthdateM"]
self.req_chat.birthdateD = _chat_["birthdateD"]
self.req_chat.age = _chat_["age"]
self.req_chat.constellations = _chat_["constellations"]
self.req_chat.place = _chat_["place"]
self.req_chat.mode = _chat_["mode"]
self.req_chat.t = _chat_["t"]
rospy.wait_for_service('docomo_sentenceunderstanding')
self.understanding = rospy.ServiceProxy('docomo_sentenceunderstanding',
DoCoMoUnderstanding)
rospy.wait_for_service('docomo_qa')
self.qa = rospy.ServiceProxy('docomo_qa', DoCoMoQa)
rospy.wait_for_service('docomo_chat')
self.chat = rospy.ServiceProxy('docomo_chat', DoCoMoChat)
self.resp_understanding = DoCoMoUnderstandingRes()
self.nowmode = "CHAT"
rospy.spin()
def main():
rospy.init_node('demo')
interface = ROSpeexInterface()
interface.init()
# interface.set_sr_response()
interface.register_sr_response(sr_response)
interface.set_spi_config(language='ja', engine='nict')
rospy.spin()
if __name__ == "__main__":
_pattern_rule = re.compile(
'.*(robot)*.*(back|come|start|straight|right|left|stop|wait)')
_operation_count = 0
_turn_action = 0
_started = False
_force_stop = False
_force_stop = False
_during_right = False
_during_left = False
rospy.init_node('rospeex_turtle')
rospeex = ROSpeexInterface()
rospeex.init()
rospeex.register_sr_response(sr_response)
rospeex.set_spi_config(language='en', engine='nict')
#rospeex.set_spi_config(language='en',engine='google')
turtle_pub = rospy.Publisher('cmd_vel_mux/input/teleop', Twist)
rospy.Timer(rospy.Duration(0, 100000000), timer_callback)
try:
rospy.spin()
except:
print e
finally:
twist = Twist()
twist.linear.x = 0
twist.linear.y = 0
f.write(cbstr)
f.close()
sys.stdout.write('cbstr: ')
print(cbstr)
f = open(text_data, 'r')
voice_data = f.read()
voice_data = voice_data.decode('utf-8')
sys.stdout.write('voice text:')
print(voice_data)
f.close()
interface.say(voice_data, language=language, engine='nict')
endflg = 1
rospy.init_node("hoge")
interface = ROSpeexInterface()
interface.init()
interface.register_sr_response(callback)
interface.register_ss_response(ss_callback)
#language = "en"
language = 'ja'
#voice_font = "nict(ja)"
text_data = 'recognized_text.txt'
interface.set_spi_config(language=language, engine='nict')
endflg = 0
def recognize_speak(filename):
def __init__(self):
self._interface = ROSpeexInterface()
