timing optimization

2019-01-24 12:00:12 +01:00
parent a52b56ded9
commit df516e8664
2 changed files with 7 additions and 4 deletions
--- 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");