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18 lines
669 B
XML
18 lines
669 B
XML
<launch>
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<node name="recognizer" pkg="pocketsphinx" type="recognizer.py">
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<param name="lm" value="$(find wpb_home_tutorials)/sr/voice_cmd.lm"/>
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<param name="dict" value="$(find wpb_home_tutorials)/sr/voice_cmd.dic"/>
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</node>
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<!-- Run wpb_home_voice_cmd -->
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<node pkg="wpb_home_tutorials" type="wpb_home_voice_cmd" name="wpb_home_voice_cmd" output="screen"/>
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<!-- Run wpb_home core -->
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<node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
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<param name="serial_port" type="string" value="/dev/ftdi"/>
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<rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
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</node>
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</launch>
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