merging with lukas

.gitignore

@@ -6,3 +6,6 @@
 
 # Some files
 experiments.py
+
+# Gedit stuff
+*~

CMakeLists.txt

@@ -37,5 +37,6 @@ catkin_install_python(PROGRAMS
 
 add_executable(aruco_detector src/aruco_detector.cpp)
 add_executable(aruco_effector src/aruco_effector.cpp)
+add_executable(speech src/speech.cpp)
 target_link_libraries(aruco_detector ${catkin_LIBRARIES} ${aruco_LIB})
 target_link_libraries(aruco_effector ${catkin_LIBRARIES} ${aruco_LIB})

action/SetSpeechVocabulary.action

@@ -0,0 +1,9 @@
+# Goal: The new vocabulary to be set in the speech recognition module
+# Result: True if the vocabulary was set
+# Feedback: None
+
+string[] words
+---
+bool success
+---
+

action/SpeechWithFeedback.action

@@ -0,0 +1,11 @@
+# Purpose : To have feedback on when the speech was started and when
+# NAO stopped talking
+# Goal: The sentence for NAO to say
+# Result: NAO has finished speaking
+# Feedback: When NAO starts speaking
+
+string say
+---
+# Empty result
+---
+# Empty feedback

launch/teleoperation.launch

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+
+<!--
+Launch file for Teleoperating NAO project
+
+-->
+
+
+<launch>
+    
+    <!-- roscore is automatically started if none exists-->
+
+    <!-- condition for rviz to be started at launch-->
+    <?ignore
+    <arg name="gui" default="false" />
+    <param name="use_gui" value="$(arg gui)"/>
+    ?>    
+
+    <!-- aruco detector node-->
+    <node pkg="teleoperation" type="aruco_detector" name="aruco_detector_node"/>
+
+    <!-- aruco effector node, currently commented out-->
+    <?ignore
+    <node pkg="teleoperation" type="aruco_effector" name="aruco_detector_node"/>
+    ?>
+
+    <!-- speech recognition and response node-->
+    <node pkg="teleoperation" type="speech" name="speech_node"/>
+
+    <node name="rviz" pkg="rviz" type="rviz"  required="true"/>
+
+</launch>

scripts/speech_debug.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# Script to open debug terminal for speech node
+
+# Array of commands to run in different tabs
+commands=(
+    'cd ~/catkin_ws;source devel/setup.bash ;rostopic echo /speech_vocabulary_action/goal'
+    'cd ~/catkin_ws;source devel/setup.bash ;rostopic echo /word_recognized'
+)
+
+# Build final command with all the tabs to launch
+finalCommand=""
+for (( i = 0; i < ${#commands[@]} ; i++ )); do
+    finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
+done
+
+# Run the final command
+eval "gnome-terminal "$finalCommand
+
+exit 0

scripts/teleoperation.sh

@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# Script to start the necessary ros functions for the Teleoperating NAO oproject
+
+# Array of commands to run in different tabs
+commands=(
+
+    # Start roscore
+    'cd ~/catkin_ws;source devel/setup.bash ;roscore'
+    # Bringup Nao
+    'sleep 1;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch '
+    # Start speech recognition server
+    'sleep 3;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
+    # Launch nodes in teleoperation package
+    'sleep 5;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
+)
+
+# Build final command with all the tabs to launch
+finalCommand=""
+for (( i = 0; i < ${#commands[@]} ; i++ )); do
+    finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
+done
+
+# Run the final command
+eval "gnome-terminal "$finalCommand
+
+exit 0

src/speech.cpp

@@ -0,0 +1,203 @@
+#include <iostream>
+#include <fstream>
+#include <stdlib.h>
+#include <ros/ros.h>
+#include <string.h>
+
+#include <std_srvs/Empty.h>
+#include <naoqi_bridge_msgs/SpeechWithFeedbackActionGoal.h>
+#include <actionlib_msgs/GoalStatusArray.h>
+#include <naoqi_bridge_msgs/SetSpeechVocabularyActionGoal.h>
+#include <naoqi_bridge_msgs/WordRecognized.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/String.h>
+
+using namespace std;
+
+class Nao_control {
+
+protected:
+
+    // ROS node handler
+    ros::NodeHandle nh_;
+
+    // Publisher for nao speech
+    ros::Publisher speech_pub;
+
+    // Publisher for nao vocabulary parameters
+    ros::Publisher voc_params_pub;
+
+    // Client for starting speech recognition
+    ros::ServiceClient recog_start_srv;
+
+    // Client for stopping speech recognition
+    ros::ServiceClient recog_stop_srv;
+
+    // Subscriber to speech recognition
+    ros::Subscriber recog_sub;
+
+    // Publisher for recognized commands
+    ros::Publisher command_pub; 
+
+    int speech_id_ctr = 1;
+    std::vector<std::string> recognized_words;
+    bool commandfound = false;
+
+public:
+
+    Nao_control(){
+
+        ROS_INFO("Constructor");
+ 
+        speech_pub = nh_.advertise<naoqi_bridge_msgs::SpeechWithFeedbackActionGoal>(
+                "/speech_action/goal", 1);
+
+        voc_params_pub= nh_.advertise<naoqi_bridge_msgs::SetSpeechVocabularyActionGoal>(
+                "/speech_vocabulary_action/goal", 1);
+
+        recog_start_srv=nh_.serviceClient<std_srvs::Empty>("/start_recognition");
+
+        recog_stop_srv=nh_.serviceClient<std_srvs::Empty>("/stop_recognition");
+
+        recog_sub=nh_.subscribe("/word_recognized", 1,
+                &Nao_control::speechRecognitionCallback, this);
+
+        command_pub = nh_.advertise<std_msgs::String>("/recieved_commands",5);
+        
+    }
+
+    ~Nao_control() {
+
+        ROS_INFO("Destructor");
+        //stopping recognition
+
+        std_srvs::Empty srv;
+       
+        if (recog_stop_srv.call(srv)) {
+            ROS_INFO("SUCCESSFULLY STOPPED RECOGNITION");
+        }
+        else {
+            ROS_ERROR("COULDN'T STOP RECOGNITION");
+        }
+    }
+
+    void speechRecognitionCallback(const naoqi_bridge_msgs::WordRecognized::ConstPtr& msg)
+    {
+
+        ROS_INFO("A WORD WAS RECOGNIZED");
+        std_srvs::Empty srv;
+
+        ROS_INFO("Confidence Value:");
+        std::cout << std::to_string(msg->confidence_values[0]) << std::endl;
+
+        for (int i = 0; i < msg->words.size(); i++) {
+
+            std::cout << msg->words[i] << std::endl;
+
+        }
+        
+        //set pause duration
+        double f_pause = 1;
+
+        if (recog_stop_srv.call(srv) && ((msg->words.size())> 0)) {
+
+            ROS_INFO("SUCCESSFULLY STOPPED RECOGNITION");
+       
+            // Use confidence level to decide wether the recognized word should be published
+            
+            if (msg->confidence_values[0] > 0.35) {
+
+                ROS_INFO("SPEECH STARTING");
+                std::string say = "Ok I understood";
+            
+                naoqi_bridge_msgs::SpeechWithFeedbackActionGoal s_msg;
+                s_msg.goal_id.id = std::to_string(this->speech_id_ctr);
+                this->speech_id_ctr += 1;
+                s_msg.goal.say = say;
+                this->speech_pub.publish(s_msg);
+                this->recognized_words.clear();
+
+                // publish here
+                ROS_INFO("PUBLISH");
+
+                std_msgs::String c_msg;
+                c_msg.data = msg->words[0];
+                this->command_pub.publish(c_msg);
+                
+            }
+            else if(msg->confidence_values[0] > 0.05) {    
+            
+                ROS_INFO("SPEECH STARTING");
+                std::string say = "I did not understand. Could you repeat that please";
+            
+                naoqi_bridge_msgs::SpeechWithFeedbackActionGoal s_msg;
+                s_msg.goal_id.id = std::to_string(this->speech_id_ctr);
+                this->speech_id_ctr += 1;
+                s_msg.goal.say = say;
+                this->speech_pub.publish(s_msg);
+                this->recognized_words.clear();
+
+                // increase pause duration
+                f_pause = 0.4;
+            
+          }
+
+            this->recognized_words.clear();
+        }
+        else {
+            ROS_ERROR("COULDN'T STOP RECOGNITION");
+        }    
+        // pause until NAO stops talking
+        ros::Rate loop_rate(f_pause);
+        loop_rate.sleep();
+
+        // re-start recogntion
+        commandRecognition();    
+    }
+
+    void initializeVocabulary()
+    {
+        
+        std::vector<std::string> vocabulary;
+        vocabulary.push_back("Copy postion");
+        vocabulary.push_back("Stop");// Operation ");
+        //vocabulary.push_back("hello ");
+        vocabulary.push_back("Open your hands");
+        vocabulary.push_back("Close your hands");
+
+        naoqi_bridge_msgs::SetSpeechVocabularyActionGoal msg;
+        msg.goal.words = vocabulary;
+        msg.goal_id.id = std::to_string(speech_id_ctr);
+        std::cout << msg << std::endl;
+        speech_id_ctr += 1;
+        voc_params_pub.publish(msg);
+        ROS_INFO("VOCABULARY INITIALIZED");
+    }
+
+    void commandRecognition()
+    {
+        //recognition has to be started and ended once a valid command was found
+        
+        initializeVocabulary();
+        std_srvs::Empty srv;
+
+        if (recog_start_srv.call(srv)) {
+            ROS_INFO("SUCCESSFULLY STARTED RECOGNITION");
+        }
+        else {
+            ROS_ERROR("COULDN'T START RECOGNITION");
+         }    
+    }
+};
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "speech");
+    
+    Nao_control TermiNAOtor;
+    ros::Rate loop_rate(0.5);
+    loop_rate.sleep();
+    TermiNAOtor.commandRecognition();
+    ROS_INFO("SPIN");
+    ros::spin();
+    return 0;
+}