latest pushes

web_api_bellande_speech_detection/launch/bellande_speech_detection.launch.py

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+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def ros1_launch_description():
+    # Get command-line arguments
+    args = sys.argv[1:]
+    # Construct the ROS 1 launch command
+    roslaunch_command = ["roslaunch", "web_api_bellande_speech_detection", "bellande_speech_detection.launch"] + args
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+    # Declare launch arguments
+    audio_data_arg = DeclareLaunchArgument('audio_data')
+    sample_rate_arg = DeclareLaunchArgument('sample_rate')
+    language_arg = DeclareLaunchArgument('language')
+
+    # Create a list to hold all nodes to be launched
+    nodes_to_launch = []
+
+    # ROS2 specific configurations
+    ros_launch_arguments = [
+        audio_data_arg, sample_rate_arg, language_arg,
+    ]
+
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_speech_detection',
+        executable='bellande_speech_detection.py',
+        name='bellande_speech_detection_node',
+        output='screen',
+        parameters=[
+            {'audio_data': LaunchConfiguration('audio_data')},
+            {'sample_rate': LaunchConfiguration('sample_rate')},
+            {'language': LaunchConfiguration('language')},
+        ],
+    ))
+
+    # Return the LaunchDescription containing all nodes and arguments
+    return LaunchDescription(ros_launch_arguments + nodes_to_launch)
+
+if __name__ == "__main__":
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        ros1_launch_description()
+    elif ros_version == "2":
+        ros2_launch_description()
+    else:
+        print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+        sys.exit(1)

web_api_bellande_speech_detection/launch/ros1/bellande_speech_detection.launch

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+<?xml version="1.0"?>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+Licensed under the Apache License, Version 2.0 (the "License"); you may not
+use this file except in compliance with the License. You may obtain a copy of
+the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+License for the specific language governing permissions and limitations under
+the License.
+-->
+<launch>
+  <!-- Define arguments -->
+  <arg name="audio_data" default="" />
+  <arg name="sample_rate" default="16000" />
+  <arg name="language" default="en-US" />
+
+  <!-- Launch the speech detection node -->
+  <node name="bellande_speech_detection_node" pkg="web_api_bellande_speech_detection"
+    type="bellande_speech_detection.py" output="screen">
+    <param name="audio_data" value="$(arg audio_data)" />
+    <param name="sample_rate" value="$(arg sample_rate)" />
+    <param name="language" value="$(arg language)" />
+  </node>
+</launch>