Commit 1944b2c9 authored by Tiago 47c's avatar Tiago 47c
Browse files

cupro demo scxml path

parent 7eb86dcd
......@@ -3,7 +3,6 @@ name: Navigation
components:
- !include ../amcl.yaml
- !include ../move_base.yaml
- !include ../gmapping.yaml
- !include ../karto_mapping.yaml
- !include ../map_server.yaml
- !include ../slam_toolbox.yaml
......@@ -10,7 +10,7 @@ cmd:
fi
echo "PSA_CONFIG: ${PSA_CONFIG}"
stdbuf -oL -eL ${prefix}/bin/pocketsphinx_adapter ${PSA_CONFIG} --hmm=${prefix}/share/pocketsphinx/model/en-us/en-us --dict=${prefix}/share/SpeechRec/psGrammar/dictionary/tobiDic.dic --alsa-device ${alsa_device}
stdbuf -oL -eL ${prefix}/bin/pocketsphinx_adapter ${PSA_CONFIG} --hmm=${prefix}/share/pocketsphinx/model/en-us/en-us --dict=${prefix}/share/SpeechRec/psGrammar/dictionary/tobiDic.dic --alsa-device sysdefault
- check: |
pgrep pocketsphinx_ad
tags:
......
......@@ -2,7 +2,9 @@ name: TiagoCuproDemo
env: ../env/cupro_env.sh
groups:
- !include ../../components/groups/default_group.yaml
- name: Core
components:
- !include ../../components/roscore_fake.yaml
- !include ../../components/groups/bonsai_group.yaml
- !include ../../components/groups/nav_group.yaml
- !include ../../components/groups/viz_group.yaml
......
......@@ -69,8 +69,8 @@ export PATH="${prefix}/bin:$PATH"
export ROS_MASTER_URI=http://${robot}:11311
#Bonsai Task
export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_TIAGO_CONFIG}/DefaultTiagoConfig.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_TIAGO_SCXML}/debug/test.xml"
export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_TIAGO_CONFIG}/demos/cupro_demo.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_TIAGO_SCXML}/demos/cuproKitchen.xml"
#pocketsphinx_grammars
export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/demos/cupro.conf"
......
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