route_verbalization_fi

The route_verbalization_fi is a version of route_description with Finnish translation.

Usage

To only get the route verbalization, run the node verbalize_route :

$ rosrun route_verbalization_fi verbalize_route_fi

It will provide to services :

• route_verbalization/verbalizeRegion
• route_verbalization/verbalizePlace

Expected results

Route : robot_infodesk -- os_exp_1 -- zizzi

you will find it there
OR
you see there zizzi

Route : robot_infodesk -- os_exp_1 -- gf_ww1_os1_intersection -- gf_walkway_1 -- gina

go straight on that aisle and turn left . Finally, you will find it on the left
OR
just go down that aisle and turn left then you will find gina on the left when you walk
OR
go straight down that aisle and turn left and you will find gina on your left when you walk

Route : robot_infodesk -- os_exp_1 -- door_h20 -- os_hall -- door_A

go through the door . Finally, you will find door a on the right when you walk
OR
go through the door . you will find it on the right when you walk
OR
go through the door . Finally, it will be on your right when you walk

Route : robot_infodesk -- os_exp_1 -- door_h20 -- os_hall -- stairs_1 -- ff_corridor_3 -- ff_c34_intersection -- ff_corridor_4 -- burger_king

go through the door , and then, take the stair at your left and turn left , then go almost at the very end of the corridor and turn left . Finally, you will see it on the right side
OR
go through the door . take the stair at the left and turn left . go almost at the very end of the aisle and turn left . you will find it on the right side

Test

To test the verbalization by automatically querying the semantic_route_description, launch the file test.launch :

$ roslaunch route_verbalization_fi test.launch

Then call the service testRegion or testPlace :

$ rosservice call /route_verbalization/testRegion "from_: 'gina'
to: 'gf_toilets'
persona: 'lambda'
signpost: false"