Python-Code: voice control for navigate a turtlebot to a specific point on map

edit

Hello,

I am a beginner in programming with ROS and Python. In my project I would to command a turtlebot in a hospital floor plan map (rviz) with voice control, so if I say: "go to room 7", the turtlebot drive to this specific point on map. I have two finished Python programs, voice_control_example.py (voice control with commands like "left", "right", "forward" and "back", but not for specific points on map) and go_to_specific_point_on_map.py (in the point variable I can define the x and y attribute for the point and the turtlebot start to drive to this point but without voice control). My plan is to make one Python program out of two and I call this one voice_control.py. If I start the program and test it with "rostopic pub -1 /kws_data std_msgs/String "go to room 7", than its working and it published in /kws_data. The issue is that the turtlebot do nothing and in the rqt_graph the rostopic kws_data is not integrated. Where is my mistake in the code?

#!/usr/bin/env python
#-*- coding:utf-8 -*-
'''
Copyright (c) 2015, Mark Silliman
All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''

import rospy
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, Point, Quaternion, Twist
from std_msgs.msg import String

class GoToPose():
    def __init__(self):

        self.goal_sent = False

        # initialize node
        rospy.init_node('asr_control', anonymous=False)
#        rospy.init_node("asr_control")

    # What to do if shut down (e.g. Ctrl-C or failure)
    rospy.on_shutdown(self.shutdown)

    # Tell the action client that we want to spin a thread by default
    self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
    rospy.loginfo("Wait for the action server to come up")

    # Allow up to 5 seconds for the ...