Homecoming

psConfig/homecoming/homecoming.conf

+[main]
+startdb=45;
+uttdb=53;
+silence=800;
+timeout=8;
+openDeviceDirectly=yes;
+alsadevice=sysdefault;
+
+
+[pocketsphinxinstance]
+name=confirm;
+dict=../../../psGrammar/dictionary/tobiDic.dic;
+jsgf=../../../psGrammar/confirm/confirm.jsgf;
+rostopic=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=assistance;
+dict=../../../psGrammar/dictionary/tobiDic.dic;
+jsgf=../../../psGrammar/homecoming/assistant.jsgf;
+rsbscope=/speechrec/psa/assistance;
+bestpath=no;
+autoload=yes;
+

psGrammar/homecoming/assistance.jsgf

+#JSGF V1.0;
+grammar ToBI_assistance;
+public <statement> = [<robot>] [<verb>] [<article>] <objects> [please];
+
+<objects> = <object>;
+<object> = snacks | cracker | drinks; 
+
+<verb> = (bring me) | bring | (I want);
+<article> = the | an | some | a | this;
+<robot> = (tiago)| (tobi) | (robot);
+