oro_chatter.py
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00001 #!/usr/bin/python
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()


oro_chatter
Author(s): Séverin Lemaignan
autogenerated on Mon Oct 6 2014 09:37:34