timing optimization

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");