Skip to content

[dialogflow_task_executive] Fix bugs when subscribing /text (std_msgs/String) topic #328

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
k-okada merged 1 commit into from
Jan 31, 2022
Merged

[dialogflow_task_executive] Fix bugs when subscribing /text (std_msgs/String) topic #328

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 6 additions & 1 deletion dialogflow_task_executive/node_scripts/dialogflow_client.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -154,15 +154,20 @@ def hotword_cb(self, msg):
rospy.loginfo("Hotword received")
self.state.set(State.LISTENING)

def text_cb(self, msg):
self.queue.put(msg)
rospy.loginfo("Recieved input")

def input_cb(self, msg):
if not self.enable_hotword:
self.state.set(State.LISTENING)
elif not self.use_audio:
# catch hotword from string
if isinstance(msg, SpeechRecognitionCandidates):
self.hotword_cb(String(data=msg.transcript[0]))
# if std_msgs/String was subscribed
elif isinstance(msg, String):
self.hotword_cb(data)
self.text_cb(msg)
else:
rospy.logerr("Unsupported data class {}".format(msg))

Expand Down