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Merge pull request #47 from yantrabuddhi/chat_ws
Chat ws
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‎chat_ws/src/oc_chat_ros/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(oc_chat_ros)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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rospy
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std_msgs
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message_generation
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
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ChatMessage.msg
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# Message2.msg
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)
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES oc_chat_ros
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CATKIN_DEPENDS message_runtime rospy std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(oc_chat_ros
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# src/${PROJECT_NAME}/oc_chat_ros.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(oc_chat_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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# add_executable(oc_chat_ros_node src/oc_chat_ros_node.cpp)
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(oc_chat_ros_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(oc_chat_ros_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS oc_chat_ros oc_chat_ros_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_oc_chat_ros.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎chat_ws/src/oc_chat_ros/msg/ChatMessage.msg‎

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string utterance
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uint8 confidence

‎chat_ws/src/oc_chat_ros/package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>oc_chat_ros</name>
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<version>0.0.0</version>
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<description>The oc_chat_ros package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
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<maintainer email="[email protected]">mandeep</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but mutiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/oc_chat_ros</url> -->
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<!-- Author tags are optional, mutiple are allowed, one per tag -->
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<!-- Authors do not have to be maintianers, but could be -->
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<!-- Example: -->
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<!-- <author email="[email protected]">Jane Doe</author> -->
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>rospy</build_depend>
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<build_depend>std_msgs</build_depend>
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<run_depend>rospy</run_depend>
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<run_depend>std_msgs</run_depend>
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<build_depend>message_generation</build_depend>
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<run_depend>message_runtime</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎chat_ws/src/oc_chat_ros/src/netcat.py‎

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#
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# netcat.py - Quick-n-dirty network interface
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# Copyright (C) 2015 Linas Vepstas
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU Affero General Public License v3 as
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# published by the Free Software Foundation and including the exceptions
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# at http://opencog.org/wiki/Licenses
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU Affero General Public License
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# along with this program; if not, write to:
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# Free Software Foundation, Inc.,
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# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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import socket
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# This implements netcat in python.
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#
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# If you don't now what netcat is, then you should google it.
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# Its important and not complicated.
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#
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def netcat(hostname, port, content) :
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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# If the cogserver is down, the connection will fail.
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try:
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s.connect((hostname, port))
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except socket.error as msg:
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print "Connect failed: ", msg
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s.close()
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return
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s.sendall(content)
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s.shutdown(socket.SHUT_WR)
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while True:
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data = s.recv(1024)
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if not data or data == "":
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break
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# print "Received:", repr(data)
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# print "Connection closed."
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s.close()

‎chat_ws/src/oc_chat_ros/src/oc_to_tts.py‎

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#!/usr/bin/env python
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#server listens to string from opencog and sends a ros message to tts
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import SocketServer
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import rospy
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from std_msgs.msg import String
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global pub
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class MyTCPHandler(SocketServer.BaseRequestHandler):
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"""
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The request handler class for our server.
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It is instantiated once per connection to the server, and must
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override the handle() method to implement communication to the
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client.
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"""
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def handle(self):
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global pub
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# self.request is the TCP socket connected to the client
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self.data = self.request.recv(1024).strip()
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print "{} wrote:".format(self.client_address[0])
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print self.data
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# just send back the same data, but upper-cased
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#self.request.sendall(self.data.upper())
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#pub = rospy.Publisher('/tts', String, queue_size=5)
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pub.publish(self.data)
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if __name__ == "__main__":
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global pub
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HOST, PORT = "localhost", 17030
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rospy.init_node('oc_chat_tts',anonymous=True)
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pub = rospy.Publisher('/tts', String, queue_size=5)
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# Create the server, binding to localhost on port 9999
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server = SocketServer.TCPServer((HOST, PORT), MyTCPHandler)
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# Activate the server; this will keep running until you
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# interrupt the program with Ctrl-C
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server.serve_forever(poll_interval=0.5)
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‎chat_ws/src/oc_chat_ros/src/stt_to_oc.py‎

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#!/usr/bin/env python
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import rospy
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from oc_chat_ros.msg import ChatMessage
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from netcat import netcat
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def callback(data):
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rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.utterance)
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netcat("localhost",17040,"(chat \""+data.utterance+"\")")
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def listener():
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# In ROS, nodes are uniquely named. If two nodes with the same
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# node are launched, the previous one is kicked off. The
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# anonymous=True flag means that rospy will choose a unique
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# name for our 'listener' node so that multiple listeners can
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# run simultaneously.
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rospy.init_node('stt_to_oc', anonymous=True)
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rospy.Subscriber("/robot/speech", ChatMessage, callback)
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# spin() simply keeps python from exiting until this node is stopped
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rospy.spin()
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if __name__ == '__main__':
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listener()
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