INSTALLATION

1. Run the command in requirements.txt file.
2. For distributed task execution, the "Mobile Robot Simulator" package is required (https://github.com/mrath/mobile_robot_simulator.git). Download into catkin_ws/src.
3. Run mics.py to display current USB ports and replace the value device_index in scripts/audio_interface/speech_observer.py with the USB index of your microphone.
4. Run catkin_make in the root catkin directory.
5. Source the setup.bash file after catkin_make
6. You can test the code is working by running the command roslaunch verbal_communication greeting_and_movement.launch

TESTS

MOVING ROBOT

1. roslaunch verbal_communication greeting_and_movement.launch
2. rostopic pub /decoded_message std_msgs/String -1 -- "MOVE FORWARD"
3. rostopic pub /decoded_message std_msgs/String -1 -- "STOP"
4. rostopic pub /decoded_message std_msgs/String -1 -- "ROTATE LEFT"
5. rostopic pub /decoded_message std_msgs/String -1 -- "ROTATE RIGHT"

MOVING ROBOT (no rostopic)

1. roslaunch verbal_communication greeting_and_movement.launch
2. say "[robot_name] [command]"

GREETING ROBOT

1. roslaunch verbal_communication greeting_and_movement.launch
2. rostopic pub /decoded_message std_msgs/String -1 -- "HELLO I AM CHRIS" (robot should reply with its name)

GREETING ROBOT (no rostopic)

1. roslaunch verbal_communication greeting_and_movement.launch
2. say "jarvis, hello I am [your_name]"

TASK DISTRIBUTION

1. roslaunch verbal_communication task_distribution.launch
2. the robot should begin assigning itself to tasks: yellow, green, orange, blue, indigo, violet
3. to say you will complete one of the following say: "[robot_name], I will do [task]"
4. or: rostopic pub /decoded_message std_msgs/String -1 -- "I WILL DO [task]"

Note. All messages are translated into full caps. If you publish a message to the robot rather than speak, you should always publish the message with full caps.