Merge branch 'cml_speechrec' into 'master'

add carrymyluggage speech config

See merge request !2

psConfig/tasks/carrymyluggage/carrymyluggage.conf

+[main]
+startdb=45;
+uttdb=53;
+silence=800;
+timeout=8;
+openDeviceDirectly=yes;
+alsadevice=sysdefault;
+
+
+
+[pocketsphinxinstance]
+name=command;
+dict=../../../psGrammar/dictionary/tobiDic.dic;
+jsgf=../../../psGrammar/tasks/carrymyluggage/commands.jsgf;
+rostopic=/speechrec/psa/carrymyluggage;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+dict=../../../psGrammar/dictionary/tobiDic.dic;
+jsgf=../../../psGrammar/confirm/confirm.jsgf;
+rostopic=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=stop;
+dict=../../../psGrammar/dictionary/tobiDic.dic;
+jsgf=../../../psGrammar/confirm/stop.jsgf;
+rostopic=/speechrec/psa/stop;
+bestpath=no;
+autoload=yes;
+

psGrammar/tasks/carrymyluggage/commands.jsgf

+#JSGF V1.0;
+grammar ToBI_carrymyluggage;
+
+public <statement> = <command>;
+
+<robot> = (tobi | robot | tiago);
+
+<command> = [<robot>] ( <followMe> | <arrived> | <goAhead> ) [<robot>];
+
+<goAhead> = ( go ahead ); 
+
+<followMe> = ((follow | come with ) me [to the <place>]);
+
+<arrived> = ((stop [(here | following me)]) | (wait here) | (we arrived [ at the <place>]) );
+
+<place> = ( car );