Hi Guys,

I am correctly using PocketSpinx and i have an output of "Position Three" and "Position Four".. I am currently trying to hardcode coordinates on my map to the positions i stated above.

I came up with this code, can anyone put me through on what i did wrong or how to go about it?

The voice output is published on "kws_data/output"

Please see code below: Thanks

UPDATE

Fixed the code, it works but doesnt give me the coordinates of "position Three" when i give a voice input.. it shows position and orientation as all "0"s instead of the coordinates predefined in the code

UPDATE Edited the code, and hardcoded it directly instead of using a dictionary for the coordinates,, The topic "move_base/simple" prints the right coordinates now..

About to test it on the robot now.

Updated Code below:

Voicetomove_base.py

  #!/usr/bin/env python

#!/usr/bin/env python

import rospy
from std_msgs.msg import String
from geometry_msgs.msg import PoseStamped
from actionlib_msgs.msg import GoalStatus
from move_base_msgs.msg import MoveBaseAction
from geometry_msgs.msg import Twist

class ASRControl(object):

    def __init__(self):

    # Intializing message type
    self.goal = PoseStamped()
    self.msg = Twist()

    rospy.init_node("asr_control")
    rospy.on_shutdown(self.shutdown)

    #Initializing publisher with buffer size of 10 messages
    self.pub_pos = rospy.Publisher("move_base_simple/goal", PoseStamped, queue_size=10)
    self.pub_ = rospy.Publisher("cmd_vel", Twist, queue_size=10)

    #subscribe to kws output
    rospy.Subscriber('kws_data', String, self.parse_asr_result, queue_size=10)
    rospy.spin()

    def parse_asr_result(self, detected_words):
    """Function to perform action on detected word"""
        if detected_words.data.find("position three") > -1:
        self.goal.header.frame_id = "map"
        self.goal.header.stamp = rospy.Time.now()
        self.goal.pose.position.z = 2.780
        self.goal.pose.position.x = 18.295
        self.goal.pose.position.y = 2.915
        self.goal.pose.orientation.w = 1.0
    elif detected_words.data.find("position four") > -1:
        self.goal.header.frame_id = "map"
        self.goal.header.stamp = rospy.Time.now()
        self.goal.pose.position.z = -3.058
        self.goal.pose.position.x = 25.755
        self.goal.pose.position.y = 3.235
        self.goal.pose.orientation.w = 1.0
    elif detected_words.data.find("stop") > -1:
        self.msg = Twist()

    # Publish required message
    self.pub_pos.publish(self.goal)
    self.pub_.publish(self.msg)


    def shutdown(self):
    """
        command executed after Ctrl+C is pressed
        """ 
    rospy.loginfo("Stop")
    self.pub_.publish(Twist())
    rospy.sleep(1)

if __name__ == '__main__':
    ASRControl()