From df516e86645b8980cbbefd106f55f6f9cf0eae54 Mon Sep 17 00:00:00 2001
From: HRS_D <francois.le-breton@tum.de>
Date: Thu, 24 Jan 2019 12:00:12 +0100
Subject: [PATCH] timing optimization

---
 scripts/teleoperation.sh | 4 ++--
 src/speech.cpp           | 7 +++++--
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/scripts/teleoperation.sh b/scripts/teleoperation.sh
index 01f6268..5545c45 100755
--- a/scripts/teleoperation.sh
+++ b/scripts/teleoperation.sh
@@ -10,9 +10,9 @@ commands=(
     # Bringup Nao
     'sleep 1;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch '
     # Start speech recognition server
-    'sleep 3;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
+    'sleep 4;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
     # Launch nodes in teleoperation package
-    'sleep 5;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
+    'sleep 4;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
 )
 
 # Build final command with all the tabs to launch
diff --git a/src/speech.cpp b/src/speech.cpp
index 9e71c2f..14a5d3a 100644
--- a/src/speech.cpp
+++ b/src/speech.cpp
@@ -178,7 +178,9 @@ public:
     {
         //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)) {
@@ -194,7 +196,8 @@ 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");