merged with lukas

src/aruco_detector.cpp

@@ -11,7 +11,6 @@
 #include <opencv2/video/tracking.hpp>
 #include <aruco/aruco.h>
 
-// static const std::string OPENCV_WINDOW = "Original image";
 static const std::string ARUCO_WINDOW = "Aruco window";
 
 class ImageConverter {
@@ -31,13 +30,11 @@ class ImageConverter {
                 &ImageConverter::imageCb, this);
 
         // Create output windows
-        // cv::namedWindow(OPENCV_WINDOW);
         cv::namedWindow(ARUCO_WINDOW);
     }
 
     ~ImageConverter() {
         // Clean Up
-        // cv::destroyWindow(OPENCV_WINDOW);
         cv::destroyWindow(ARUCO_WINDOW);
     }
 
@@ -55,9 +52,6 @@ class ImageConverter {
             return;
         }
 
-        // Output Original Image (bcs y not)
-        // cv::imshow(OPENCV_WINDOW, cv_ptr->image);
-
         // Do Aruco
         cv::Mat cam_mat = (cv::Mat_<double>(3, 3) <<
                 690., 0.0, 320,

src/speech.cpp

@@ -182,8 +182,9 @@ public:
     void commandRecognition()
     {
         //recognition has to be started and ended once a valid command was found
-
-        initializeVocabulary();
+        this->initializeVocabulary();
+        ros::Rate loop_rate(1);
+        loop_rate.sleep();
         std_srvs::Empty srv;
 
         if (recog_start_srv.call(srv)) {
@@ -199,7 +200,8 @@ int main(int argc, char** argv) {
     ros::init(argc, argv, "speech");
 
     Nao_control TermiNAOtor;
-    ros::Rate loop_rate(0.5);
+    //TermiNAOtor.initializeVocabulary();
+    ros::Rate loop_rate(1);
     loop_rate.sleep();
     TermiNAOtor.commandRecognition();
     ROS_INFO("SPIN");