Leitat changes.

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
 )
 
 ################################################

action/Listen.action

+# Action to listen to user's speech
+
+int32 duration          # How long it should listen
+---
+string transcription    # Transcribed text from captured audio
+---
+string feedback_status
+
+
+

action/PostActivityResult.action

+# 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

action/RequestActivity.action

+string url
+string user_id
+string device_id
+---
+iri_raadical_msgs/Activity activity
+---
+string feedback_status
\ No newline at end of file

action/ScreenControl.action

+#goal definition
+iri_raadical_msgs/Screen screen
+
+---
+
+#result definition
+string answer
+
+---
+
+#feedback
+string feedback

action/UserDetected.action

+#goal definition
+string userid
+string api_url
+
+---
+
+#result definition
+bool result
+int32 error_code
+
+---
+
+#feedback

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 -->

srv/SaySpeech.srv

+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
+

srv/TextToSpeech.srv

+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