diff --git a/.gitignore b/.gitignore
index 4d61f1b..9f83993 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,5 @@
 # Vim stuff
 .*.sw*
+
+# Gedit stuff
+*~
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f7a67ff..24c18ea 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
   std_msgs
   tf
   aruco
+  naoqi_bridge_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -66,17 +67,17 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
+#add_action_files(
+#    FILES
+#    Blink.action
+#)
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   sensor_msgs#   std_msgs
-# )
+generate_messages(
+    DEPENDENCIES
+    sensor_msgs
+    actionlib_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -112,6 +113,8 @@ catkin_package(
 #  LIBRARIES project_aruco
 #  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
 #  DEPENDS system_lib
+
+  #CATKIN_DEPENDS actionlib_msgs
 )
 
 ###########
@@ -157,8 +160,10 @@ include_directories(
 
 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})
+target_link_libraries(speech ${catkin_LIBRARIES} ${aruco_LIB})
 # add_dependencies(aruco tutorial_4_generate_messages_cpp)
 
 #############
diff --git a/action/SetSpeechVocabulary.action b/action/SetSpeechVocabulary.action
new file mode 100644
index 0000000..d188731
--- /dev/null
+++ b/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
+---
+
diff --git a/action/SpeechWithFeedback.action b/action/SpeechWithFeedback.action
new file mode 100644
index 0000000..e756dcc
--- /dev/null
+++ b/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
diff --git a/src/speech.cpp b/src/speech.cpp
new file mode 100644
index 0000000..b0d3490
--- /dev/null
+++ b/src/speech.cpp
@@ -0,0 +1,219 @@
+#include <iostream>
+#include <fstream>
+#include <iomanip>
+#include <cmath>
+#include <stdlib.h>
+#include <ros/ros.h>
+#include <sensor_msgs/image_encodings.h>
+#include "sensor_msgs/JointState.h"
+#include "sensor_msgs/Imu.h"
+#include "message_filters/subscriber.h"
+#include <string.h>
+#include <naoqi_bridge_msgs/JointAnglesWithSpeed.h>
+#include <naoqi_bridge_msgs/Bumper.h>
+#include <naoqi_bridge_msgs/HeadTouch.h>
+#include <naoqi_bridge_msgs/HandTouch.h>
+#include <naoqi_bridge_msgs/JointAnglesWithSpeedAction.h>
+#include <std_srvs/Empty.h>
+#include <boost/algorithm/string.hpp>
+#include <boost/date_time.hpp>
+#include <naoqi_bridge_msgs/SpeechWithFeedbackActionGoal.h>
+#include <actionlib_msgs/GoalStatusArray.h>
+#include <naoqi_bridge_msgs/BlinkActionGoal.h>
+#include <naoqi_bridge_msgs/SetSpeechVocabularyActionGoal.h>
+#include <std_msgs/ColorRGBA.h>
+#include <naoqi_bridge_msgs/WordRecognized.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Pose2D.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/String.h>
+#include "actionlib/client/simple_action_client.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;
+
+    bool speech_flag = 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;
+
+        }
+
+        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] > 0.3) {    
+            
+                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();
+            
+            }
+
+            this->recognized_words.clear();
+            ros::Rate loop_rate(10000);
+            loop_rate.sleep();
+            //program stops here, better loop structure, where recognition is started again has to be added
+            commandRecognition();
+        }
+        else {
+            ROS_ERROR("COULDN'T STOP RECOGNITION");
+        }        
+    }
+
+    void initializeVocabulary()
+    {
+        
+        std::vector<std::string> vocabulary;
+        vocabulary.push_back("Start");// Operation ");
+        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(10);
+    loop_rate.sleep();
+    TermiNAOtor.commandRecognition();
+    ros::spin();
+    return 0;
+}
diff --git a/src/speech_2.cpp b/src/speech_2.cpp
new file mode 100644
index 0000000..2da85f5
--- /dev/null
+++ b/src/speech_2.cpp
@@ -0,0 +1,177 @@
+#include <iostream>
+#include <fstream>
+#include <iomanip>
+#include <cmath>
+#include <stdlib.h>
+#include <ros/ros.h>
+#include <sensor_msgs/image_encodings.h>
+#include "sensor_msgs/JointState.h"
+#include "sensor_msgs/Imu.h"
+#include "message_filters/subscriber.h"
+#include <string.h>
+#include <naoqi_bridge_msgs/JointAnglesWithSpeed.h>
+#include <naoqi_bridge_msgs/Bumper.h>
+#include <naoqi_bridge_msgs/HeadTouch.h>
+#include <naoqi_bridge_msgs/HandTouch.h>
+#include <naoqi_bridge_msgs/JointAnglesWithSpeedAction.h>
+#include <std_srvs/Empty.h>
+#include <boost/algorithm/string.hpp>
+#include <boost/date_time.hpp>
+#include <naoqi_bridge_msgs/SpeechWithFeedbackActionGoal.h>
+#include <actionlib_msgs/GoalStatusArray.h>
+#include <naoqi_bridge_msgs/BlinkActionGoal.h>
+#include <naoqi_bridge_msgs/SetSpeechVocabularyActionGoal.h>
+#include <std_msgs/ColorRGBA.h>
+#include <naoqi_bridge_msgs/WordRecognized.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Pose2D.h>
+#include <std_msgs/Bool.h>
+#include "actionlib/client/simple_action_client.h"
+
+
+
+
+using namespace std;
+
+class Nao_control {
+
+protected:
+
+    // ROS node handler
+    ros::NodeHandle nh_;
+
+    // Subscriber to head tactile states
+    ros::Subscriber tactile_sub;
+
+    // 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;
+
+    int speech_id_ctr = 0;
+    std::vector<std::string> recognized_words;
+
+public:
+
+    Nao_control(){
+
+        // Subscribe to topic bumper and specify that
+        // all data will be processed by function bumperCallback
+        //bumper_sub=nh_.subscribe("/bumper",1, &Nao_control::bumperCallback,
+        //        this);
+
+        // Subscribe to topic tactile_touch and specify
+        // that all data will be processed by function tactileCallback
+        //tactile_sub=nh_.subscribe("/tactile_touch", 1,
+        //        &Nao_control::tactileCallback, this);
+
+        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);
+
+        ROS_INFO("Constructor");
+        tactileCallback();
+
+    }
+
+
+    ~Nao_control() {
+
+        ROS_INFO("Destructor");
+    }
+
+    void speechRecognitionCallback(const naoqi_bridge_msgs::WordRecognized::ConstPtr& msg)
+    {
+        for (int i = 0; i < msg->words.size(); i++) {
+            ROS_INFO("RECOGNIZED %s WITH CONFIDENCE %f",
+                    msg->words[i].c_str(), msg->confidence_values[i]);
+            if (msg->confidence_values[i] > 0.42) {
+                this->recognized_words.push_back(msg->words[i]);
+            }
+        }
+    }
+
+
+    //void tactileCallback(#const naoqi_bridge_msgs::HeadTouch::ConstPtr& tactileState)
+    void tactileCallback()
+    {
+
+        if (1 ) {
+            ROS_INFO("FRONT BUTTON RELEASED");
+            std::vector<std::string> vocabulary;
+            vocabulary.push_back("hello");
+            vocabulary.push_back("world");
+            vocabulary.push_back("humans");
+            vocabulary.push_back("robots");
+            vocabulary.push_back("kill");
+
+            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);
+            // somehow the message does not get published here
+
+            std_srvs::Empty srv;
+
+            if (recog_start_srv.call(srv)) {
+                ROS_INFO("SUCCESSFULLY STARTED RECOGNITION");
+            }
+            else {
+                ROS_ERROR("COULDN'T START RECOGNITION");
+            }
+        }
+        else if (this->recognized_words.size() > 1) {
+            ROS_INFO("MIDDLE BUTTON RELEASED");
+            std_srvs::Empty srv;
+            if (recog_stop_srv.call(srv)) {
+                ROS_INFO("SUCCESSFULLY STOPPED RECOGNITION");
+                std::string say;
+                for (int i = 0; i < this->recognized_words.size(); i++) {
+                    say += this->recognized_words[i] + " ";
+                }
+                naoqi_bridge_msgs::SpeechWithFeedbackActionGoal msg;
+                msg.goal_id.id = std::to_string(this->speech_id_ctr);
+                this->speech_id_ctr += 1;
+                msg.goal.say = say;
+                this->speech_pub.publish(msg);
+                this->recognized_words.clear();
+            }
+            else {
+                ROS_ERROR("COULDN'T STOP RECOGNITION");
+            }
+        }
+        else{
+        ROS_INFO("NO BUTTON PRESSED");        
+        }
+    }
+
+};
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "speech");
+
+    Nao_control TermiNAOtor;
+    ros::spin();
+    return 0;
+}