def handle_create_new_person(req):
if req.name != "":
rospy.loginfo("Creating %s with id %s" % (str(req.name) ,str(req.id)))
human = Human(req.name, req.id)
population[req.id] = human
with open(pop_file, 'w') as file:
pickle.dump(population, file)
interface.add_instance('person', human._person.name, human)
return True
else:
return False
if __name__ == '__main__':
rospy.init_node("name_provider_node")
interface.init()
pop_file = '/home/yochan/names.pickle'
if os.path.isfile(pop_file):
with open(pop_file, 'r') as file:
population = pickle.load(file)
for key in population:
h = population[key]
interface.add_instance('person', h._person.name, h)
get_name_service = rospy.Service("get_real_name", GetRealName, handle_get_real_name)
get_name_service = rospy.Service("create_new_person", CreateNewPerson, handle_create_new_person)
rospy.spin()
(S('change my name') % 'set_name') |
((S('move') | 'go' | 'drive') % 'go' +
((S('to') + ~S('the') +
loc_syntax % 'place'))) |
(S('stop') | 'halt' | 'exit') % 'halt' |
((S('spin') % 'spin' | S('turn') % 'go') + (S('around') | 'left' | 'right') % 'direction') |
((S('say') | 'tell me' | 'speak' | 'what is' | 'what\'s') % 'say' + ~(S('your') | 'a') +
(S('name') | 'identification' | 'id' | 'hello' | 'hi' | 'joke') % 'info') |
(S("where are you going") % 'where') |
((S('take')|S('bring')|S('give')|S('send')) + ~S('a') + S("message") % 'bring_msg' + ~(S('from') + ~S('the') + loc_syntax % 'source') + S('to') + ~S('the') + loc_syntax % 'dest')
)
return cmd
if __name__ == '__main__':
rospy.init_node('speech_interpreter')
master.register_syntax(get_cmd())
speech_topic = rospy.get_param('~speech_in', '/recognizer/output')
active_topic = rospy.get_param('~active', '/face_finder/closest_face')
planner.init()
srv = InteractServer(rospy.get_name())
master.register_fn(srv.set_name)
textin = rospy.Subscriber(speech_topic, std_msgs.msg.String, callback=srv.speech_callback, callback_args=master)
check_active = rospy.Subscriber(active_topic, rospy.msg.AnyMsg, callback=face_callback)
check_voice = rospy.Subscriber('/is_speaking', std_msgs.msg.Bool, callback=voice_callback)
rospy.spin()