def __init__(self):
rospy.on_shutdown(self.cleanup)
self.rate = rospy.get_param("~rate", 5)
r = rospy.Rate(self.rate)
self.paused = False
# Initialize the Voice message we will publish.
self.msg_location = pandu_voice_message()
self.msg_person = pandu_voice_message()
self.msg_object = pandu_voice_message()
self.msg_location.first_string = 'none'
self.msg_location.second_string = 'none'
self.msg_person.first_string = 'none'
self.msg_person.second_string = 'none'
self.msg_object.first_string = 'none'
self.msg_object.second_string = 'none'
# Publish the Voice message to various topics
self.loc_cmd_pub = rospy.Publisher('voice_location_cmd', pandu_voice_message)
self.loc_ack_pub = rospy.Publisher('voice_location_ack', pandu_voice_message)
self.per_cmd_pub = rospy.Publisher('voice_person_cmd', pandu_voice_message)
self.obj_cmd_pub = rospy.Publisher('voice_object_cmd', pandu_voice_message)
# Subscribe to the /recognizer/output topic to receive voice commands.
self.voice = rospy.get_param("~voice", "voice_don_diphone")
self.soundhandle = SoundClient()
rospy.sleep(1)
self.soundhandle.stopAll()
rospy.sleep(1)
self.soundhandle.say("Pandubot is ready to receive commands", self.voice)
rospy.Subscriber('/recognizer/output', String, self.speechCb)
rospy.Subscriber('/voice_location_ack', pandu_voice_message, self.synthesizer_loc)
rospy.Subscriber('/voice_person_ack', pandu_voice_message, self.synthesizer_per)
rospy.Subscriber('/voice_object_ack', pandu_voice_message, self.synthesizer_obj)
# A mapping from keywords to commands.
self.keywords_to_command = {'navigate' : ['go to', 'go', 'reach'],
'fetch' : ['fetch', 'get'],
'vending machine' : ['vending machine'],
'dustbin' : ['dustbin'],
'bench' : ['bench'],
'bump space' : ['bump space'],
'home' : ['home'],
'snickers' : ['snickers'],
'pause' : ['pandu listen','listen'],
'continue' : ['pandu dont listen', 'do not listen','not listen']}
rospy.loginfo("Ready to receive voice commands")
def __init__(self):
rospy.on_shutdown(self.cleanup)
self.rate = rospy.get_param("~rate", 5)
r = rospy.Rate(self.rate)
self.paused = False
# Initialize the Voice message we will publish.
self.msg_location = pandu_voice_message()
self.msg_person = pandu_voice_message()
self.msg_object = pandu_voice_message()
# Publish the Voice message to various topics
self.loc_cmd_pub = rospy.Publisher('voice_location_cmd',
pandu_voice_message)
self.loc_ack_pub = rospy.Publisher('voice_location_ack',
pandu_voice_message)
self.per_cmd_pub = rospy.Publisher('voice_person_cmd',
pandu_voice_message)
self.obj_cmd_pub = rospy.Publisher('voice_object_cmd',
pandu_voice_message)
# Subscribe to the /recognizer/output topic to receive voice commands.
rospy.Subscriber('/recognizer/output', String, self.speechCb)
# A mapping from keywords to commands.
self.keywords_to_command = {
'navigate': ['go to', 'go', 'reach'],
'fetch': ['fetch', 'get'],
'vending machine': ['vending machine'],
'dustbin': ['dustbin'],
'bench': ['bench'],
'bump space': ['bump space'],
'home': ['home'],
'snickers': ['snickers'],
'pause': ['pandu listen', 'listen'],
'continue': ['pandu dont listen', 'do not listen', 'not listen']
}
rospy.loginfo("Ready to receive voice commands")
# We have to keep publishing the cmd_vel message if we want the robot to keep moving.
while not rospy.is_shutdown():
self.loc_cmd_pub.publish(self.msg_location)
self.per_cmd_pub.publish(self.msg_person)
self.obj_cmd_pub.publish(self.msg_object)
r.sleep()
def __init__(self):
rospy.on_shutdown(self.cleanup)
self.rate = rospy.get_param("~rate", 5)
r = rospy.Rate(self.rate)
self.paused = False
# Initialize the Voice message we will publish.
self.msg_location = pandu_voice_message()
self.msg_person = pandu_voice_message()
self.msg_object = pandu_voice_message()
# Publish the Voice message to various topics
self.loc_cmd_pub = rospy.Publisher('voice_location_cmd', pandu_voice_message)
self.loc_ack_pub = rospy.Publisher('voice_location_ack', pandu_voice_message)
self.per_cmd_pub = rospy.Publisher('voice_person_cmd', pandu_voice_message)
self.obj_cmd_pub = rospy.Publisher('voice_object_cmd', pandu_voice_message)
# Subscribe to the /recognizer/output topic to receive voice commands.
rospy.Subscriber('/recognizer/output', String, self.speechCb)
# A mapping from keywords to commands.
self.keywords_to_command = {'navigate' : ['go to', 'go', 'reach'],
'fetch' : ['fetch', 'get'],
'vending machine' : ['vending machine'],
'dustbin' : ['dustbin'],
'bench' : ['bench'],
'bump space' : ['bump space'],
'home' : ['home'],
'snickers' : ['snickers'],
'pause' : ['pandu listen','listen'],
'continue' : ['pandu dont listen', 'do not listen','not listen']}
rospy.loginfo("Ready to receive voice commands")
# We have to keep publishing the cmd_vel message if we want the robot to keep moving.
while not rospy.is_shutdown():
self.loc_cmd_pub.publish(self.msg_location)
self.per_cmd_pub.publish(self.msg_person)
self.obj_cmd_pub.publish(self.msg_object)
r.sleep()
