This ROS package provides two different ROS nodes:
It is an orchestrator between the robot, the Android application (for Automatic Speech Recognition) and LU4R. It communicates with the Android application, acting as a Server. Once the list of transcriptions is received from the Android app, it is forwarded to LU4R.
Place the ROS package
lu4r_ros_interface in your
catkin_ws/src folder. Then, run
to start the ROS master. In another terminal, run:
rosrun lu4r_ros_interface android_interface _port:=[port] _lu4r_ip:=[lu4r_ip_address] _lu4r_port:=[lu4r_port] _semantic_map:=[semantic_map]
_port: the listening port of the LU4R ROS interface. This is required by the Android app, enabling a TCP connection between them.
_lu4r_ip_address: the ip address of LU4R. If the LU4R and the LU4R ROS interface are on the same machine, ignore this argument.
_lu4r_port: the listening port of LU4R.
_semantic_map: the semantic map to be employed, among the ones available into semantic_maps. Semantic maps are in JSON format, representing the configuration of the environment (e.g. objects, locations,...) in which the robot is operating. Whenever a
simpleconfiguration of LU4R is chosen, the interpretation process is sensitive to different semantic maps (see the LU4R system website).
For more information, please visit the LU4R system website.