feat: ListenFor skill.

skills/src/lasr_skills/__init__.py

@@ -9,3 +9,4 @@
 from .go_to_location import GoToLocation
 from .go_to_semantic_location import GoToSemanticLocation
 from .say import Say
+from .listen_for import ListenFor

skills/src/lasr_skills/listen_for.py

@@ -0,0 +1,25 @@
+import smach_ros
+from lasr_speech_recognition_msgs.msg import (
+    TranscribeSpeechAction,
+    TranscribeSpeechGoal,
+)
+
+from actionlib_msgs.msg import GoalStatus
+
+
+class ListenFor(smach_ros.SimpleActionState):
+    def __init__(self, wake_word: str):
+
+        def speech_result_cb(userdata, status, result):
+            if status == GoalStatus.SUCCEEDED:
+                if wake_word in result.transcription.lower().split():
+                    return "succeeded"
+                return "not_done"
+            return "failed"
+
+        smach_ros.SimpleActionState.__init__(
+            self,
+            "transcribe_speech",
+            TranscribeSpeechAction,
+            result_cb=speech_result_cb,
+        )