asr: ROS 2 declarations
Direct rclpy publisher/subscriber arguments use type, name, callback/QoS ordering. Compatibility wrapper calls include the node as their first argument. Service arguments identify the service type and name. Namespace/remapping and computed names must be resolved from the active launch configuration.
launch/online_asr.launch.py
Source: head-ros-nodes/ros/asr/launch/online_asr.launch.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Launch argument | 'speech_recognizer_node', default_value='true' |
11 |
scripts/recognizer_node.py
Source: head-ros-nodes/ros/asr/scripts/recognizer_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | AudioStream, audio_stream_topic, sensor_or_stream_qos(depth=1) |
99 |
| Publisher | ChatMessage, asr_metadata_topic, topic_qos(depth=10) |
102 |
| Publisher | ChatMessage, sentence_topic, topic_qos(depth=1) |
132 |
| Publisher | String, chat_event_topic, topic_qos(depth=1) |
135 |
| Publisher | ChatMessage, interim_topic, topic_qos(depth=1) |
138 |
| Subscription | String, robot_speech_event_topic, self.robot_speech_event_cb, topic_qos(depth=1) |
141 |
| Subscription | TTS, robot_said_topic, self.robot_said_cb, topic_qos(depth=1) |
147 |
| Subscription | AudioStream, BROWSER_AUDIO_INPUT_TOPIC, self.browser_audio_cb, sensor_or_stream_qos(depth=20) |
153 |
| Subscription | String, BROWSER_AUDIO_OVERRIDE_TOPIC, self.browser_audio_override_cb, latched_state_qos() |
159 |
| Subscription | Empty, '/hr/control/webui/force_send_asr', self.force_send_asr_result, topic_qos(depth=1) |
165 |
| Service server | StringTrigger, '~/set_context', self.ros_service_set_context |
171 |
| Service client | StringTrigger, LANGUAGE_DETECT_SERVICE |
176 |