Timing optimization in specch node, added launch file and script to start application

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
+set finalCommand=""
+for (( i = 0; i < ${#commands[@]} ; i++ )); do
+    export finalCommand+="--tab -e 'bash -c \"${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
+    'cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch '
+    # Start speech recognition server
+    'cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
+    # Launch nodes in teleoperation package
+    'cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
+)
+
+# Build final command with all the tabs to launch
+set finalCommand=""
+for (( i = 0; i < ${#commands[@]} ; i++ )); do
+    export finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
+done
+
+# Run the final command
+eval "gnome-terminal "$finalCommand
+
+exit 0