Merge commit '5f3ab4b6' into qualification2

LASR-at-Home · Feb 9, 2024 · 7b7068e · 7b7068e
2 parents 4bb8a9c + 5f3ab4b
commit 7b7068e
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Showing 3 changed files with 6 additions and 2 deletions.
diff --git a/common/speech/lasr_speech_recognition_whisper/nodes/transcribe_microphone_server b/common/speech/lasr_speech_recognition_whisper/nodes/transcribe_microphone_server
@@ -91,7 +91,7 @@ class TranscribeSpeechAction(object):
                 self._model_params.warmup,
             )
             # Configure the speech recogniser object and adjust for ambient noise
-            self.recogniser = self._configure_recogniser(ambient_adj=False)
+            self.recogniser = self._configure_recogniser(ambient_adj=True)
             # Setup the action server and register execution callback
             self._action_server = actionlib.SimpleActionServer(
                 self._action_name,

diff --git a/tasks/qualification/nodes/actions/guide b/tasks/qualification/nodes/actions/guide
@@ -120,7 +120,6 @@ class Guide:
                     f"{goal.guidee}, could you please get the door for me?"
                 )
                 self.tts.send_goal_and_wait(tts_goal)
-                # TODO: check if the door is open using CLIP
                 door_closed = self.check_for_door()
                 counter = 1
                 while door_closed:

diff --git a/tasks/qualification/nodes/better_qualification b/tasks/qualification/nodes/better_qualification
@@ -108,6 +108,11 @@ point.positions = [0.15]
 point.time_from_start = rospy.Duration(1)
 torso_lower_goal.trajectory.points.append(point)
 
+tts_goal = TtsGoal()
+tts_goal.rawtext.lang_id = "en_GB"
+tts_goal.rawtext.text = "Begin"
+tts.send_goal_and_wait(tts_goal)
+
 
 def exec_command(command):
     torso_controller.send_goal_and_wait(torso_lower_goal)