everything seems to work together as expected

(if not perfectly)

script/controller.py

@@ -23,6 +23,8 @@ def inform_controller_factory(who):
 def handle_request(r):
     module = r.module
     message = r.message
+    _state_old = STATE
+    permission = False
     global STATE
 
     if module == 'walker':
@@ -30,12 +32,10 @@ def handle_request(r):
             if STATE in ('idle', 'walk'):
                 STATE = 'walk'
                 permission = True
-            else:
-                permission = False
         elif message == 'stop':
             if STATE == 'walk':
                 STATE = 'idle'
-            permission = True
+                permission = True
 
     elif module == 'fall_detector':
         permission = True
@@ -48,28 +48,27 @@ def handle_request(r):
         if message == 'imitate':
             if STATE == 'imitate':
                 permission = True
-            else:
-                permission = False
 
     elif module == 'speech_recognition':
-        if message == 'imitate':
+        if message == 'recognize':
+            if STATE in ('idle', 'imitate'):
+                permission = True
+        elif message == 'imitate':
             if STATE == 'idle':
                 STATE = 'imitate'
                 permission = True
-            else:
-                permission = False
-        if message == 'stop':
+        elif message == 'stop':
             if STATE == 'imitate':
                 STATE = 'idle'
                 permission = True
-            else:
-                permission = False
 
-    rospy.loginfo(
-        'Got request from %s to %s. Permission: %s. State is now: %s.' % (
+    rospy.logdebug(
+        'GOT REQUEST FROM %s TO %s.\nPERMISSION: %s.\nSTATE IS NOW: %s.' % (
             module, message, permission, STATE
         )
     )
+    if _state_old != STATE:
+        rospy.loginfo('{} -> {}'.format(_state_old, STATE))
     return InformControllerResponse(permission)
 
 

script/imitator.py

@@ -18,6 +18,8 @@ if __name__ == '__main__':
     rospy.init_node('imitator')
     rospy.wait_for_service('inform_controller')
     ll = tf.TransformListener()
+    am = ALProxy('ALAutonomousMoves', os.environ['NAO_IP'], 9559)
+    am.setExpressiveListeningEnabled(False)
     mp = ALProxy('ALMotion', os.environ['NAO_IP'], 9559)
     mp.wakeUp()
     mp.setAngles(['LElbowRoll', 'RElbowRoll', 'LElbowYaw', 'RElbowYaw'],
@@ -27,7 +29,7 @@ if __name__ == '__main__':
         sleep(0.1)
         if not _inform_controller('imitate'):
             continue
-        rospy.loginfo('IMITATOR: ACTIVE')
+        rospy.logdebug('IMITATOR: ACTIVE')
         for i, eff in enumerate(['L',
                                  'R'], 1):
             try:
@@ -37,6 +39,7 @@ if __name__ == '__main__':
                     rospy.Time(0)
                 )
             except Exception as e:
+                rospy.logwarn(e)
                 continue
 
             sign = 1 if eff == 'L' else -1

script/walker.py

@@ -57,12 +57,6 @@ if __name__ == '__main__':
         # print trans
         # continue
 
-        permission = _inform_controller('move')
-
-        if not permission:
-            mp.stopMove()
-            continue
-
         movement = [0, 0, 0]
                                #-1   1  -1   1
         for i, dr in enumerate((BK, FW, RT, LT)):
@@ -74,12 +68,19 @@ if __name__ == '__main__':
                 break
 
         if not any(movement):
-            rospy.loginfo('WALKER: STOP')
+            rospy.logdebug('WALKER: STOP')
             _inform_controller('stop')
             mp.move(0, 0, 0)
-        else:
-            rospy.loginfo('WALKER: TRANS: {}'.format(trans))
-            rospy.loginfo('WALKER: MOVMT: {}'.format(movement))
-            mp.moveToward(*movement)
+            continue
+
+        permission = _inform_controller('move')
+
+        if not permission:
+            mp.stopMove()
+            continue
+
+        rospy.loginfo('WALKER: TRANS: {}'.format(trans))
+        rospy.loginfo('WALKER: MOVMT: {}'.format(movement))
+        mp.moveToward(*movement)
 
     mp.rest()