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enable to change topic name from speech_recognition.launch #254

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merged 1 commit into from Jun 10, 2021
Merged

enable to change topic name from speech_recognition.launch #254

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2 changes: 2 additions & 0 deletions ros_speech_recognition/launch/speech_recognition.launch
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Expand Up @@ -3,6 +3,7 @@
<arg name="launch_audio_capture" default="true" doc="Launch audio_capture node to publish audio topic from microphone" />

<arg name="audio_topic" default="/audio" doc="Name of audio topic captured from microphone" />
<arg name="voice_topic" default="/Tablet/voice" doc="Name of text topic of recognized speech" />
<arg name="n_channel" default="1" doc="Number of channels of audio topic and microphone. '$ pactl list short sinks' to check your hardware" />
<arg name="depth" default="16" doc="Bit depth of audio topic and microphone. '$ pactl list short sinks' to check your hardware" />
<arg name="sample_rate" default="16000" doc="Frame rate of audio topic and microphone. '$ pactl list short sinks' to check your hardware"/>
Expand Down Expand Up @@ -37,6 +38,7 @@
output="screen">
<rosparam subst_value="true">
audio_topic: $(arg audio_topic)
voice_topic: $(arg voice_topic)
n_channel: $(arg n_channel)
depth: $(arg depth)
sample_rate: $(arg sample_rate)
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2 changes: 1 addition & 1 deletion ros_speech_recognition/scripts/speech_recognition_node.py
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Expand Up @@ -142,7 +142,7 @@ def __init__(self):
self.continuous = rospy.get_param("~continuous", False)
if self.continuous:
rospy.loginfo("Enabled continuous mode")
self.pub = rospy.Publisher("/Tablet/voice",
self.pub = rospy.Publisher(rospy.get_param("~voice_topic", "/Tablet/voice"),
SpeechRecognitionCandidates,
queue_size=1)
else:
Expand Down