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Feature/remove speech from bridge #83

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Feature/remove speech from bridge #83

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6fde769
refactor(bridge)Include single launch file instead of multiple nodes
jlunenburg May 1, 2021
84eadb4
fix(hero_bringup)Remapped speech topic
jlunenburg May 4, 2021
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9 changes: 2 additions & 7 deletions launch/hero_bringup.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,7 @@
</include>

<!-- TEXT TO SPEECH -->
<remap from="/hero/text_to_speech/output" to="/talking_sentence"/>
<include file="$(find robot_launch_files)/launch/interaction/text_to_speech.launch" ns="$(arg namespace)" />

</group><!-- End of simulator group -->
Expand Down Expand Up @@ -199,13 +200,7 @@
-->

<!-- bridge nodes-->
<node pkg="hero_bridge" type="speech.py" name="text_to_speech" if="$(optenv ROBOT_REAL false)" output="log" />
<node pkg="hero_bridge" type="gripper_controller.py" name="gripper_bridge" output="log" />
<node pkg="hero_bridge" type="tf_ghost.py" name="tf_ghost" output="log" />
<node pkg="hero_bridge" type="head_controller.py" name="head_bridge" output="log" />
<node pkg="hero_bridge" type="handover_detection.py" name="handoverdetector" output="log" />

<include file="$(find hero_bridge)/launch/manipulation_bridge.launch" />
<include file="$(find hero_bridge)/launch/hero_bridge.launch" />

<!-- Odometer -->
<node name="odometer" type="odometer.py" pkg="test_tools" if="$(optenv ROBOT_REAL false)" output="log" >
Expand Down