Merge pull request #5 from bssthu/dev

重新封装pocketsphinx

.gitmodules

@@ -1,3 +1,7 @@
 [submodule "ui/Google-Text-To-Speech"]
 	path = ui/Google-Text-To-Speech
 	url = https://github.com/tinkerfuroc/Google-Text-To-Speech
+[submodule "downloaded/src/pocketsphinx"]
+	path = downloaded/src/pocketsphinx
+	url = https://github.com/tinkerfuroc/pocketsphinx
+    tag = 0.2.3

README.md

@@ -29,7 +29,10 @@ tinker2014/
 
 在tinker2014文件夹下放5个catkin workspace，
 各自独立开发。
+
 其中downloaded中放下载下来的package，
+package通过submodule的方式添加到tinker2014版本库中。
+
 dev中放刚创建或临时的package。
 
 downloaded中的package应尽量保持原样。
@@ -52,7 +55,7 @@ ui文件夹中放启动脚本等等非ROS的程序。
 ```bash
 cd ~
 git clone https://github.com/<YOUR_NAME>/tinker2014
-git submodule updatupdate   # 克隆子模块
+git submodule update   # 克隆子模块
 ```
 
 在.bashrc中添加以下内容：

dev/.gitignore

@@ -1,3 +1,4 @@
 build/
 devel/
 install/
+*

logic/src/l_sphinx_wrapper/CMakeLists.txt

@@ -0,0 +1,162 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(l_sphinx_wrapper)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES l_sphinx_wrapper
+#  CATKIN_DEPENDS rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(l_sphinx_wrapper
+#   src/${PROJECT_NAME}/l_sphinx_wrapper.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(l_sphinx_wrapper_node src/l_sphinx_wrapper_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(l_sphinx_wrapper_node l_sphinx_wrapper_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(l_sphinx_wrapper_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS l_sphinx_wrapper l_sphinx_wrapper_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_l_sphinx_wrapper.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

logic/src/l_sphinx_wrapper/README.md

@@ -0,0 +1,46 @@
+#l_sphinx_wrapper
+
+Author: bssthu
+
+ROS-Version: indigo
+
+Description: 对pocketsphinx的封装
+
+###使用方法
+
+```bash
+roslaunch l_sphinx_wrapper TASK_NAME
+```
+
+###package信息
+
+下面列出的是pocketsphinx的信息：
+
+######nodes
+- recognizer.py
+
+######发布的topics
+- /recognizer/output
+
+######提供的services
+- /recognizer/start ([std_srvs/Empty](http://docs.ros.org/api/std_srvs/html/srv/Empty.html))
+- /recognizer/stop ([std_srvs/Empty](http://docs.ros.org/api/std_srvs/html/srv/Empty.html))
+
+###配置方法
+
+#####安装
+
+
+```bash
+sudo apt-get install sphinxbase-utils    # sphinx_jsgf2fsg命令
+```
+
+接下来是pocketsphinx的依赖项：
+
+```bash
+sudo apt-get install python-gst0.10 gstreamer0.10-pocketsphinx
+```
+
+#####初始化任务
+
+请参考ui/l_sphinx_wrapper/README.md

logic/src/l_sphinx_wrapper/launches/tasks

@@ -0,0 +1 @@
+../../../../share/l_sphinx_wrapper/tasks/

logic/src/l_sphinx_wrapper/package.xml

@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<package>
+  <name>l_sphinx_wrapper</name>
+  <version>0.0.0</version>
+  <description>The l_sphinx_wrapper package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="b@todo.todo">b</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/l_sphinx_wrapper</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

tinkersetup.bash

@@ -1,9 +1,10 @@
 # tinkersetup.bash
 # created by bss at 2014-12-28
-# Last modified: 2014-12-28, 17:09:24
+# Last modified: 2015-01-01, 17:44:26
 
 source $TINKER_WORKSPACE/dev/devel/setup.bash
 source $TINKER_WORKSPACE/driver/devel/setup.bash --extend
 source $TINKER_WORKSPACE/logic/devel/setup.bash --extend
 source $TINKER_WORKSPACE/decision/devel/setup.bash --extend
+source $TINKER_WORKSPACE/downloaded/devel/setup.bash --extend
 

ui/l_sphinx_wrapper/README.md

@@ -0,0 +1,66 @@
+##l_sphinx_wrapper的附加脚本
+
+
+###init.py
+
+初始化一个任务文件夹
+
+####使用方法
+
+```bash
+./init.py --init TASK_NAME
+```
+
+这条命令会创建$TINKER_WORKSPACE/share/l_sphinx_wrapper/launches/TASK_NAME/，
+其中有文件 sent.txt, gram.jsgf, TASK_NAME.launch 。
+
+sent.txt 和 gram.jsgf 的编辑方法：
+- 编辑sent.txt，写入可能出现的词语，如
+  ```
+  hello tinker
+  my name is
+  alex
+  bob
+  ```
+
+- 然后编辑gram.jsgf，写入语法，注意单词必须是大写，如
+  ```
+  #JSGF v1.0;
+  grammar furoc;
+  public <furocCmd> = <myname> | <hellotinker>;
+  <myname> = MY NAME IS <names>;
+  <names> = TOM | BOB | JACK;
+  <hellotinker> = HELLO <names>;
+  ```
+
+编辑完成后，生成 .dict, .fsg 文件：
+
+```bash
+./init.py -t TASK_NAME
+```
+
+这条命令等价于
+
+```bash
+python input2dict.py -t TASK_NAME
+python jsgf2fsg.py -t TASK_NAME
+```
+
+之后便可以正常使用：
+
+```bash
+roslaunch l_sphinx_wrapper TASK_NAME.launch
+```
+
+------
+
+###toUpper.py
+
+将文件(例如gram.jsgf)中的字母转换为大写
+
+####使用方法
+
+```bash
+python toUpper.py -i ../../share/l_sphinx_wrapper/answer_questions/gram.jsgf
+```
+