oro_chatter.py

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#!/usr/bin/python
import roslib; roslib.load_manifest('oro_chatter')
import rospy
import json
from std_msgs.msg import String
from oro_ros.srv import *
from web_hri.srv import *

def callback(data):
        try:
                rospy.loginfo("Got input: " + data.data)
                oro_resp = process_nl(["\"" + data.data + "\""])
                
                try:
                        if (oro_resp.res[1:-1] != ""):
                                rospy.loginfo("ORO answered: " + oro_resp.res)
                                tell_human(oro_resp.res[1:-1])
                        else:
                                rospy.loginfo("ORO didn't understand")
                                
                except rospy.ServiceException, e:
                        rospy.logerr("I couldn't send back ORO's answer to the human!")
                
        except rospy.ServiceException, e:
                rospy.logerr("ORO could not process request: %s"%str(e))


def listener():
    rospy.init_node('oro_listener', anonymous=True)
    rospy.Subscriber("/hri/listen_human", String, callback)
    rospy.spin()

if __name__ == '__main__':
        rospy.wait_for_service('/oro/processNL')
        process_nl = rospy.ServiceProxy('/oro/processNL', OroServerQuery)
        
        rospy.wait_for_service('/hri/tell_human')
        tell_human = rospy.ServiceProxy('/hri/tell_human', AskHuman)
        
        listener()