diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7afd1f6ecc9bdfa8581814875b98e4d139ac2eb8..c019c8951078be1f717ea67208963e8033726492 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -107,8 +107,9 @@ generate_dynamic_reconfigure_options(
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
- LIBRARIES gripper_module play_motion_module head_module torso_module nav_module arm_module tts_module #leds_module
- CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs
+ LIBRARIES gripper_module play_motion_module head_module torso_module nav_module tts_module#leds_module
+ CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_waypoint_msgs pal_interaction_msgs
+
# DEPENDS system_lib
)
diff --git a/include/tiago_modules/tts_module.h b/include/tiago_modules/tts_module.h
index 5b23b18be7e0e6aa8489278ebce0c1a6603b210c..8cb975fc110809c0e665cc75d5d4587377a6ad1b 100644
--- a/include/tiago_modules/tts_module.h
+++ b/include/tiago_modules/tts_module.h
@@ -1,7 +1,7 @@
#ifndef _TTS_MODULE_H
#define _TTS_MODULE_H
-#include <iri_ros_tools/module.h>
+#include <iri_ros_tools/module.h>
#include <iri_ros_tools/module_action.h>
#include <tiago_modules/TTSModuleConfig.h>
@@ -15,19 +15,19 @@ typedef enum {TTS_MODULE_IDLE,TTS_MODULE_START,TTS_MODULE_WAIT} tts_module_state
//Status
/**
* \brief Possible module status returned by the get_status() function
- *
+ *
* These are the possible status of the module, which are:
* * TTS_MODULE_RUNNING: indicates that the module is active and operating
* properly.
* * TTS_MODULE_SUCCESS: indicates the last navigation goal has been reached
* successfully.
* * TTS_MODULE_ACTION_START_FAIL: indicates that the goal could not be started.
- * * TTS_MODULE_TIMEOUT: indicates that the goal did not complete in the
+ * * TTS_MODULE_TIMEOUT: indicates that the goal did not complete in the
* allowed time.
* * TTS_MODULE_FB_WATCHDOG: indicates that feedback has not been received for
* a long time.
* * TTS_MODULE_ABORTED: indicates that the navigation goal could not be reached.
- * * TTS_MODULE_PREEMPTED: indicates that the current navigation goal has been
+ * * TTS_MODULE_PREEMPTED: indicates that the current navigation goal has been
* canceled by another goal.
* * TTS_MODULE_REJECTED: indicates that the goal informatio is not valid and the
* goal will not be executed.
@@ -55,57 +55,57 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
/**
* \brief
- *
+ *
*/
tts_module::TTSModuleConfig config;
/**
* \brief
- *
+ *
*/
CModuleAction<pal_interaction_msgs::TtsAction> tts_action;
/**
* \brief
- *
+ *
*/
pal_interaction_msgs::TtsGoal speech_goal;
/**
* \brief
- *
+ *
*/
std::string speaker;
//Variables
/**
* \brief
- *
+ *
*/
tts_module_state_t state;
/**
* \brief
- *
+ *
*/
tts_module_status_t status;
/**
* \brief
- *
+ *
*/
bool new_speech;
/**
* \brief
- *
+ *
*/
bool cancel_pending;
protected:
/**
* \brief
- *
+ *
*/
void state_machine(void);
/**
* \brief
- *
+ *
*/
void reconfigure_callback(tts_module::TTSModuleConfig &config, uint32_t level);
@@ -113,12 +113,12 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
//CTTSModule(const std::string &name);
/**
* \brief Constructor
- *
+ *
*/
CTTSModule(const std::string &name,const std::string &name_space=std::string(""));
/**
* \brief Sets the speacker name
- *
+ *
* This functions set the name of the speacker to use. At the moment, the speacker
* can not be changed, and it is an english male.
*
@@ -128,15 +128,15 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
void set_speaker(std::string &speaker);
/**
* \brief Starts a speech process
- *
- * This function starts a speech. At the moment, the only supported language is
- * en_GB, which is the default value, and can not be changed.
- *
+ *
+ * This function starts a speech. At the moment, the only supported language is
+ * en_GB, which is the default value, and can not be changed.
+ *
* \param text the text to speak.
- *
- * \param language the language identifier ti use. By default this value is set to
+ *
+ * \param language the language identifier ti use. By default this value is set to
* en_GB, which is the only supported language at the moment.
- *
+ *
* \param delay the time before start speaking in seconds. The defautl value is 0.
*/
void say(const std::string &text,const std::string &language=std::string("en_GB"),double delay=0.0);
@@ -144,37 +144,37 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
* \brief Stops the current speech
*
* This functions stops the current speech. This functions signals the stop
- * to the speech module, but the is_finished() function must be used to know
+ * to the speech module, but the is_finished() function must be used to know
* when the head has actually stopped.
- *
+ *
*/
void stop(void);
/**
* \brief Checks if the last speech has finished or not.
*
- * This function must be used to know when the last speech has ended, either
+ * This function must be used to know when the last speech has ended, either
* successfully or by any error.
*
- * \return a boolean indicating whether the last speech has ended (true) or not
+ * \return a boolean indicating whether the last speech has ended (true) or not
* (false), reagardless of its success or not.
- *
+ *
*/
bool is_finished(void);
/**
* \brief Returns the current state
- *
+ *
* This function returns the current status of the TTS module. It returns
- * one of the tts_module_status_t values. This can be called at any time, but is
+ * one of the tts_module_status_t values. This can be called at any time, but is
* has only meaning when a goal has just finished.
*
* \return the current status of the module.
- *
+ *
*/
tts_module_status_t get_status(void);
/**
* \brief Destructor
- *
+ *
*/
~CTTSModule();
};