diff --git a/CMakeLists.txt b/CMakeLists.txt index 37144dd92b00a999a5a03930576f7387796f4c1b..5bf67cbb365bc9397e3ad1f0b209ffb8caee1e6a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -12,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS sensor_msgs actionlib_msgs message_generation + audio_common_msgs std_msgs ) @@ -72,6 +73,8 @@ add_service_files( ScheduleActivity.srv SetAnswer.srv SetScreen.srv + TextToSpeech.srv + SaySpeech.srv ) ## Generate actions in the 'action' folder @@ -82,12 +85,17 @@ add_action_files( ExecuteAction.action ExecuteActivity.action Speak.action + Listen.action + UserDetected.action + PostActivityResult.action + ScreenControl.action + RequestActivity.action ) ## Generate added messages and services with any dependencies listed here generate_messages( DEPENDENCIES - geometry_msgs sensor_msgs actionlib_msgs std_msgs + geometry_msgs sensor_msgs actionlib_msgs audio_common_msgs std_msgs ) ################################################ diff --git a/action/Listen.action b/action/Listen.action new file mode 100755 index 0000000000000000000000000000000000000000..9c2363d2f0cafedbc13c607d7bda6837fb7396d4 --- /dev/null +++ b/action/Listen.action @@ -0,0 +1,10 @@ +# Action to listen to user's speech + +int32 duration # How long it should listen +--- +string transcription # Transcribed text from captured audio +--- +string feedback_status + + + diff --git a/action/PostActivityResult.action b/action/PostActivityResult.action new file mode 100644 index 0000000000000000000000000000000000000000..c2fdb6aebb5ca04706d2a1924f45fcb538ac2e9d --- /dev/null +++ b/action/PostActivityResult.action @@ -0,0 +1,18 @@ +# goal definition +string idactivity +bool result +string answer +string pose +string emotion +string location +string api_url + +--- + +# result definition +bool result +int32 error_code + +--- + +# feedback diff --git a/action/RequestActivity.action b/action/RequestActivity.action new file mode 100644 index 0000000000000000000000000000000000000000..f4d5366cd1df022f926a3ae551ed5aafc0ce9b7a --- /dev/null +++ b/action/RequestActivity.action @@ -0,0 +1,7 @@ +string url +string user_id +string device_id +--- +iri_raadical_msgs/Activity activity +--- +string feedback_status \ No newline at end of file diff --git a/action/ScreenControl.action b/action/ScreenControl.action new file mode 100644 index 0000000000000000000000000000000000000000..c08e077000ce9523a45d64efa7f6be638a7f2dce --- /dev/null +++ b/action/ScreenControl.action @@ -0,0 +1,12 @@ +#goal definition +iri_raadical_msgs/Screen screen + +--- + +#result definition +string answer + +--- + +#feedback +string feedback diff --git a/action/UserDetected.action b/action/UserDetected.action new file mode 100644 index 0000000000000000000000000000000000000000..953877eee36dbf127ad76b5c380845fbdf4b0aa9 --- /dev/null +++ b/action/UserDetected.action @@ -0,0 +1,13 @@ +#goal definition +string userid +string api_url + +--- + +#result definition +bool result +int32 error_code + +--- + +#feedback diff --git a/package.xml b/package.xml index c1dbea5817e540e2b9756cb263a1dd8b14675975..c259a8c3f6a7a4f1674cf493b9b56aec825ce4d3 100644 --- a/package.xml +++ b/package.xml @@ -62,6 +62,7 @@ <exec_depend>std_msgs</exec_depend> <exec_depend>sensor_msgs</exec_depend> <exec_depend>geometry_msgs</exec_depend> + <depend>audio_common_msgs</depend> <!-- The export tag contains other, unspecified, tags --> diff --git a/srv/SaySpeech.srv b/srv/SaySpeech.srv new file mode 100644 index 0000000000000000000000000000000000000000..cfd812954495d45c0056b6a2082fd22fcebe4ac1 --- /dev/null +++ b/srv/SaySpeech.srv @@ -0,0 +1,7 @@ +audio_common_msgs/AudioData data +bool blocking + # True: srv responds once the audio has finished playing + # False: responds as soon as possible (the audio is still playing) +--- +bool success # Whether it has been played successfully + diff --git a/srv/TextToSpeech.srv b/srv/TextToSpeech.srv new file mode 100644 index 0000000000000000000000000000000000000000..6391b117d902195bf2a31ed30d7fb1433f4d5ad8 --- /dev/null +++ b/srv/TextToSpeech.srv @@ -0,0 +1,11 @@ +string text +bool blocking + # True: srv responds once the audio has finished playing + # False: responds as soon as possible (the audio is still playing) +int32 emotion + # 0: neutro + # 1: felicidad + # 2: tristeza + # 3: enfado +--- +string result \ No newline at end of file