lu4r_ros_interface

This package enables for the communication between the LU4R system and ROS. The lu4r_ros_interface is in charge of receiving the list of transcriptions from an external ASR and forward it to LU4R.

This ROS package provides two different ROS nodes:

• android_interface
• simple_interface

android_interface

It is an orchestrator between the robot, the Android application (for Automatic Speech Recognition) and LU4R. It communicates with the Android application, acting as a Server. Once the list of transcriptions is received from the Android app, it is forwarded to LU4R.

Requirements

• ROS
• Python 2.7

Run

Place the ROS package lu4r_ros_interface in your catkin_ws/src folder. Then, run

roscore

to start the ROS master. In another terminal, run:

rosrun lu4r_ros_interface android_interface _port:=[port] _lu4r_ip:=[lu4r_ip_address] _lu4r_port:=[lu4r_port] _semantic_map:=[semantic_map]

where:

• _port: the listening port of the LU4R ROS interface. This is required by the Android app, enabling a TCP connection between them.
• _lu4r_ip_address: the ip address of LU4R. If the LU4R and the LU4R ROS interface are on the same machine, ignore this argument.
• _lu4r_port: the listening port of LU4R.
• _semantic_map: the semantic map to be employed, among the ones available into semantic_maps. Semantic maps are in JSON format, representing the configuration of the environment (e.g. objects, locations,...) in which the robot is operating. Whenever a simple configuration of LU4R is chosen, the interpretation process is sensitive to different semantic maps (see the LU4R system website).

simple_interface

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Requirements

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Run

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For more information, please visit the LU4R system website.