feat: GPSR "Talk" skill (#160)

* fix: incorrect remapping keys for handover

* fix: remove speech server in launch file

* feat: statemachine to handle the "talk" gpsr subtask

* chore: resolving review comments

tasks/gpsr/src/gpsr/states/__init__.py

@@ -0,0 +1 @@
+from .talk import Talk

tasks/gpsr/src/gpsr/states/talk.py

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+import smach
+from lasr_skills import Say
+import time
+from typing import Dict
+import rospy
+
+
+# In future we might want to add looking at person talking to the state machine.
+class Talk(smach.StateMachine):
+    class GenerateResponse(smach.State):
+        def __init__(self):
+            smach.State.__init__(
+                self,
+                outcomes=["succeeded", "failed"],
+                input_keys=["talk_phrase"],
+                output_keys=["response"],
+            )
+
+        def _create_responses(self) -> Dict[str, str]:
+            response = {}
+            response["something about yourself"] = (
+                "I am a Tiago -- a helpful assistive robot developed by PAL Robotics."
+            )
+            current_time = time.strftime("%H:%M")
+            response["the time"] = f"The current time is {current_time}."
+            current_day = time.strftime("%A")
+            response["what day is today"] = f"Today is {current_day}."
+            tomorrow = time.strftime("%A", time.localtime(time.time() + 86400))
+            response["what day is tomorrow"] = f"Tomorrow is {tomorrow}."
+            response["your teams name"] = "Our team is called LASR."
+            response["your teams country"] = "Our team is from the United Kingdom."
+            response["your teams affiliation"] = (
+                "Our team is affiliated with King's College London."
+            )
+            day_of_the_week = current_day
+            day_of_the_month = time.strftime("%d")
+            response["the day of the week"] = f"Today is {day_of_the_week}."
+
+            response["the day of the month"] = (
+                f"The day of the month is {day_of_the_month}."
+            )
+            return response
+
+        def execute(self, userdata):
+            try:
+                userdata.response = self._create_responses()[userdata.talk_phrase]
+            except KeyError:
+                rospy.loginfo(
+                    f"Failed to generate response for {userdata.talk_phrase} as it is not in the list of possible questions."
+                )
+                return "failed"
+            return "succeeded"
+
+    def __init__(self):
+        smach.StateMachine.__init__(self, outcomes=["succeeded", "failed"])
+
+        with self:
+            smach.StateMachine.add(
+                "GENERATE_RESPONSE",
+                self.GenerateResponse(),
+                transitions={"succeeded": "SAY_RESPONSE", "failed": "failed"},
+                remapping={"talk_phrase": "talk_phrase", "response": "response"},
+            )
+
+            smach.StateMachine.add(
+                "SAY_RESPONSE",
+                Say(),
+                transitions={"succeeded": "succeeded", "failed": "failed"},
+                remapping={"text": "response"},
+            )