/active_listening#
Caution
This documentation page has been auto-generated.
It may be missing some details.
/active_listening Quick Facts
- Category
- Message type
- Direction
↔️ you might both publish and subscribe to this topic.
Whether or not recognized speech should be further processed (eg by the chatbot). See Dialogue management for details.
Quick snippets#
How to use in your code#
Subscribe to the topic using Python#
1import rospy
2from std_msgs.msg import Bool
3
4def on_data(msg):
5 # see http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html
6 # for the msg structure
7 print(msg)
8
9if __name__ == "__main__":
10
11 rospy.init_node("subscriber")
12 rospy.Subscriber("/active_listening", Bool, on_data)
13 rospy.spin()
Publish to the topic using Python#
1import rospy
2from std_msgs.msg import Bool
3
4if __name__ == "__main__":
5 rospy.init_node("publisher")
6
7 pub = rospy.Publisher("/active_listening", Bool, queue_size=10)
8 rate = rospy.Rate(10) # 10Hz
9 msg = Bool()
10
11 while not rospy.is_shutdown():
12
13 # check http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html
14 # for the msg structure
15 # msg.data = ...
16 pub.publish(msg)
17
18 rate.sleep()
Subscribe to the topic using C++#
1#include <ros/ros.h>
2#include <std_msgs/Bool.h>
3
4void on_data(const std_msgs::Bool::ConstPrt& msg)
5{
6 // see http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html
7 // for the msg structure
8 ROS_INFO_STREAM("Got " << msg);
9}
10
11int main(int argc, char **argv)
12{
13 ros::init(argc, argv, "subscriber");
14 ros::NodeHandle n;
15
16 ros::Subscriber sub = n.subscribe("/active_listening", 10, on_data);
17
18 ros::spin();
19 return 0;
20}
Publish to the topic using C++#
1#include <ros/ros.h>
2#include <std_msgs/Bool.h>
3
4int main(int argc, char **argv)
5{
6 ros::init(argc, argv, "publisher");
7 ros::NodeHandle n;
8
9 ros::Publisher pub = n.advertise<std_msgs::Bool>("/active_listening", 10);
10
11 ros::Rate loop_rate(10); // 10Hz
12
13 while (ros::ok())
14 {
15 std_msgs::Bool msg;
16 // check http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html
17 // for the msg structure
18 // msg.data = ...
19 pub.publish(msg);
20
21 ros::spinOnce();
22 loop_rate.sleep();
23 }
24 return 0;
25}