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MiRo-Training
The aim of the project is to develop a software architecture for interacting with Miro using vocal and gestural commands.
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MiRo-Training
The aim of the project is to develop a software architecture for interacting with Miro using vocal and gestural commands.
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The class CommandRecognition handles the different incoming commands and publish on the robot the corresponding action. More...
Public Member Functions | |
| def | __init__ |
| Constructor. | |
| def | callback_receive_command |
| Callback function that receive and save the user's voice command as text. | |
| def | callback_sleep_action |
| Callback that receives the action to be executed when the vocal command is "Sleep". | |
| def | callback_sad_action |
| Callback that receives the action to be executed when the vocal command is "Bad". | |
| def | callback_play_action |
| Callback that receives the action to be executed when the vocal command is "Play". | |
| def | callback_gbb |
| Callback that receives the action to be executed when the vocal command is "Let's go". | |
| def | callback_good_action |
| Callback that receives the action to be executed when the vocal command is "Good". | |
| def | callback_kill_action |
| Callback that receives the action to be executed when the vocal command is "Kill". | |
| def | switching_commands |
| Function that check the incoming commands and publish the corresponding action The command "Miro" brings the robot in a default configuration the first time is used. More... | |
Public Attributes | |
| rate | |
| Node rate. | |
| robot_name | |
| Allow to switch from real robot to simulation from launch file. | |
| activate | |
| Initialization of the enabling command. | |
| command | |
| Initialization of the string to evaluate. | |
| q_sleep | |
| Platform control Object that represents the sleep action ("Sleep") | |
| q_sad | |
| Platform control Object that represents the miro action when it is scolded ("Bad") | |
| q_play | |
| Platform control Object that represents the miro action when it follows the Ball ("Play") | |
| q_gbb | |
| platform_control object that rapresents the Gesture Based Behavior ("Let's go out") | |
| q_good | |
| Platform control Object that represents the miro action when it is praised ("Good") | |
| q_kill | |
| Platform control Object that represents the miro action when it is praised ("Kill") | |
| sub_speech_to_text | |
| Subscriber to the topic /speech_to_text a message of type String that cointains the vocal command converted in text. | |
| sub_sleep_action | |
| Subscriber to the topic /miro_sleep a message of type platform_control that rapresents the action corresponting to the command "Sleep". | |
| sub_sad_action | |
| Subscriber to the topic /miro_sad a message of type platform_control that rapresents the action corresponting to the command "Bad". | |
| sub_play_action | |
| Subscriber to the topic /miro_follow a message of type platform_control that rapresents the action corresponting to the command "Play". | |
| sub_gbb | |
| Subscriber to the topic /miro_dance a message of type platform_control that rapresents the action corresponting to the command "Let's go out". | |
| sub_good_action | |
| Subscriber to the topic /miro_good a message of type platform_control that rapresents the action corresponting to the command "Good". | |
| sub_kill_action | |
| Subscriber to the topic /miro_good a message of type platform_control that rapresents the action corresponting to the command "Kill". | |
| pub_platform_control | |
| Publisher to the topic /platform/control a message of type platform_control which execute Miro actions. | |
The class CommandRecognition handles the different incoming commands and publish on the robot the corresponding action.
Definition at line 31 of file command_recognition.py.
| def command_recognition.CommandRecognition.switching_commands | ( | self | ) |
Function that check the incoming commands and publish the corresponding action
The command "Miro" brings the robot in a default configuration the first time is used.
The variable activate is set to True and enables the evauation of the other commands.
The command "Bad" is executed only if self.active is True and publish the action managed by the node bad.py
The command "Good" is executed only if self.active is True and publish the action managed by the node good.py
The command "Play" is executed only if self.active is True and publish the action managed by the node play.py
The command "Let's go out" is executed only if self.active is True and publish the action managed by the node gbb_miro.py
The command "Sleep" is executed only if self.active is True and publish the action managed by the node sleep.py.
The variable activate is set to False and Miro remains in sleep mode until a new command "Miro" is received.
Definition at line 132 of file command_recognition.py.
1.8.6
