timing optimization

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

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");