pavel/teleoperation
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little changes in shell scripts

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HRS_D
2019-01-24 11:04:42 +01:00
parent a962f28c09
commit a52b56ded9
4 changed files with 21 additions and 11 deletions
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12
launch/teleoperation.launch
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@@ -1,3 +1,5 @@
<?xml version="1.0"?>
<!-- <!--
Launch file for Teleoperating NAO project Launch file for Teleoperating NAO project
@@ -8,10 +10,16 @@ Launch file for Teleoperating NAO project
<!-- roscore is automatically started if none exists--> <!-- 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--> <!-- aruco detector node-->
<node pkg="teleoperation" type="aruco_detector" name="aruco_detector_node"/> <node pkg="teleoperation" type="aruco_detector" name="aruco_detector_node"/>
<!-- aruco effector node--> <!-- aruco effector node, currently commented out-->
<?ignore <?ignore
<node pkg="teleoperation" type="aruco_effector" name="aruco_detector_node"/> <node pkg="teleoperation" type="aruco_effector" name="aruco_detector_node"/>
?> ?>
@@ -19,4 +27,6 @@ Launch file for Teleoperating NAO project
<!-- speech recognition and response node--> <!-- speech recognition and response node-->
<node pkg="teleoperation" type="speech" name="speech_node"/> <node pkg="teleoperation" type="speech" name="speech_node"/>
<node name="rviz" pkg="rviz" type="rviz" required="true"/>
</launch> </launch>

4
scripts/speech_debug.sh
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@@ -9,9 +9,9 @@ commands=(
) )
# Build final command with all the tabs to launch # Build final command with all the tabs to launch
set finalCommand="" finalCommand=""
for (( i = 0; i < ${#commands[@]} ; i++ )); do for (( i = 0; i < ${#commands[@]} ; i++ )); do
export finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' " finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
done done
# Run the final command # Run the final command

12
scripts/teleoperation.sh
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@@ -6,19 +6,19 @@
commands=( commands=(
# Start roscore # Start roscore
#'cd ~/catkin_ws;source devel/setup.bash ;roscore' 'cd ~/catkin_ws;source devel/setup.bash ;roscore'
# Bringup Nao # Bringup Nao
'cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch ' 'sleep 1;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch '
# Start speech recognition server # Start speech recognition server
'cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch' 'sleep 3;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
# Launch nodes in teleoperation package # Launch nodes in teleoperation package
'cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch' 'sleep 5;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
) )
# Build final command with all the tabs to launch # Build final command with all the tabs to launch
set finalCommand="" finalCommand=""
for (( i = 0; i < ${#commands[@]} ; i++ )); do for (( i = 0; i < ${#commands[@]} ; i++ )); do
export finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' " finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
done done
# Run the final command # Run the final command

2
src/speech.cpp
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@@ -194,7 +194,7 @@ int main(int argc, char** argv) {
ros::init(argc, argv, "speech"); ros::init(argc, argv, "speech");
Nao_control TermiNAOtor; Nao_control TermiNAOtor;
ros::Rate loop_rate(1); ros::Rate loop_rate(0.5);
loop_rate.sleep(); loop_rate.sleep();
TermiNAOtor.commandRecognition(); TermiNAOtor.commandRecognition();
ROS_INFO("SPIN"); ROS_INFO("SPIN");