adding images and message ser

iri_rock_paper_scissor/src/rock_paper_scissor_alg_node.cpp

@@ -102,16 +102,11 @@ bool RockPaperScissorAlgNode::game_outcomeCallback(
   bool tie = false;
   bool lose = false;
   // start of game loop, the loop will run untill ch == n
-  ROS_INFO("Press 1 for Rock, 2 for Paper, 3 for Scissors:");
+  ROS_INFO("Say Rock ..... Paper ...... Scissors.");
   this->speech_String_msg_.data =
-      "Press 1. for Rock, 2. for Paper, 3. for Scissors";
+      "Say .... either Rock ..... or. Paper ...... or. Scissors";
   this->speech_publisher_.publish(this->speech_String_msg_);
 
-  cv::Mat OutIm = cv::imread(images_dir + "/images/Rock.PNG");
-
-  this->image_Image_msg_ =
-      *cv_bridge::CvImage(std_msgs::Header(), "bgr8", OutIm).toImageMsg();
-  this->image_publisher_.publish(this->image_Image_msg_);
 
   do {
     std::srand(unsigned(std::time(0)));
@@ -137,13 +132,13 @@ bool RockPaperScissorAlgNode::game_outcomeCallback(
     int ai = rand() % 3 + 1;
     switch (ai) {
     case 1:
-      guess = "Rock";
+      guess = "rock";
       break;
     case 2:
-      guess = "Paper";
+      guess = "paper";
       break;
     case 3:
-      guess = "Scissors";
+      guess = "scissors";
       break;
     }
 
@@ -194,8 +189,10 @@ bool RockPaperScissorAlgNode::game_outcomeCallback(
       this->speech_publisher_.publish(this->speech_String_msg_);
 
       cv::Mat OutIm;
-      cv::Mat Im1 = cv::imread(images_dir + "/figures/tie.jpg");
+      cv::Mat Im1 = cv::imread(images_dir + "/images/tie.png");
       cv::Mat Im2 = cv::imread(images_dir + "/images/" + guess + ".PNG");
+      ROS_INFO_STREAM("IMg1 size "<<Im1.size()<<" Img2 size "<<Im2.size());
+
       cv::vconcat(Im2, Im1, OutIm);
       this->image_Image_msg_ =
           *cv_bridge::CvImage(std_msgs::Header(), "bgr8", OutIm).toImageMsg();
@@ -209,9 +206,13 @@ bool RockPaperScissorAlgNode::game_outcomeCallback(
     this->speech_publisher_.publish(this->speech_String_msg_);
 
     cv::Mat OutIm;
-    cv::Mat Im1 = cv::imread(images_dir + "/figures/won.jpg");
+    cv::Mat Im1 = cv::imread(images_dir + "/images/won.png");
     cv::Mat Im2 = cv::imread(images_dir + "/images/" + guess + ".PNG");
+    ROS_INFO_STREAM("IMg1 size "<<Im1.rows<<","<<Im1.cols<<" Img2 size "<<Im2.rows<<","<<Im2.cols);
+
     cv::vconcat(Im2, Im1, OutIm);
+
+
     this->image_Image_msg_ =
         *cv_bridge::CvImage(std_msgs::Header(), "bgr8", OutIm).toImageMsg();
     this->image_publisher_.publish(this->image_Image_msg_);
@@ -224,9 +225,12 @@ bool RockPaperScissorAlgNode::game_outcomeCallback(
     this->speech_publisher_.publish(this->speech_String_msg_);
 
     cv::Mat OutIm;
-    cv::Mat Im1 = cv::imread(images_dir + "/figures/lost.jpg");
+    cv::Mat Im1 = cv::imread(images_dir + "/images/lost.png");
     cv::Mat Im2 = cv::imread(images_dir + "/images/" + guess + ".PNG");
+    ROS_INFO_STREAM("IMg1 size "<<Im1.size()<<" Img2 size "<<Im2.size());
+
     cv::vconcat(Im2, Im1, OutIm);
+
     this->image_Image_msg_ =
         *cv_bridge::CvImage(std_msgs::Header(), "bgr8", OutIm).toImageMsg();
     this->image_publisher_.publish(this->image_Image_msg_);
@@ -251,7 +255,6 @@ bool RockPaperScissorAlgNode::game_outcomeCallback(
   // this->game_outcome_mutex_exit();
   // this->alg_.unlock();
 
-  return true;
 }
 
 void RockPaperScissorAlgNode::game_outcome_mutex_enter(void) {

iri_voice_recognizer/dict/4012.vocab

-PAPER
-ROCK
-SCISSORS

iri_voice_recognizer/launch/sphinx.launch

@@ -2,9 +2,9 @@
 
   <remap from="/recognizer/output" to="/iri_voice_recognizer/spoken_text"/>
 
-  <node name="recognizer" pkg="pocketsphinx" type="recognizer.py" output="screen">
-    <param name="lm" value="$(find iri_voice_recognizer)/dict/rps.lm"/>
-    <param name="dict" value="$(find iri_voice_recognizer)/dict/rps.dic"/>
-  </node>
+    <arg name="_dict" value="_dict:=$(find iri_voice_recognizer)/dict/rps.dic"/>
+    <arg name="_kws" value="_kws:=$(find iri_voice_recognizer)/dict/rps.kwlist"/>
+
+   <node name="pocketsphinx_recognizer" pkg="pocketsphinx" type="recognizer.py" output="screen" args="$(arg _dict) $(arg _kws)" />
 
 </launch>