00001
00002 import roslib; roslib.load_manifest('oro_chatter')
00003 import rospy
00004 import json
00005 from std_msgs.msg import String
00006 from oro_ros.srv import *
00007 from web_hri.srv import *
00008
00009 def callback(data):
00010 try:
00011 rospy.loginfo("Got input: " + data.data)
00012 oro_resp = process_nl(["\"" + data.data + "\""])
00013
00014 try:
00015 if (oro_resp.res[1:-1] != ""):
00016 rospy.loginfo("ORO answered: " + oro_resp.res)
00017 tell_human(oro_resp.res[1:-1])
00018 else:
00019 rospy.loginfo("ORO didn't understand")
00020
00021 except rospy.ServiceException, e:
00022 rospy.logerr("I couldn't send back ORO's answer to the human!")
00023
00024 except rospy.ServiceException, e:
00025 rospy.logerr("ORO could not process request: %s"%str(e))
00026
00027
00028 def listener():
00029 rospy.init_node('oro_listener', anonymous=True)
00030 rospy.Subscriber("/hri/listen_human", String, callback)
00031 rospy.spin()
00032
00033 if __name__ == '__main__':
00034 rospy.wait_for_service('/oro/processNL')
00035 process_nl = rospy.ServiceProxy('/oro/processNL', OroServerQuery)
00036
00037 rospy.wait_for_service('/hri/tell_human')
00038 tell_human = rospy.ServiceProxy('/hri/tell_human', AskHuman)
00039
00040 listener()
