route_verbalization

The route_verbalization is a clean combination of route_description and semantic_map_drawer packages to provide a smarter route verbalization.

Usage

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

$ rosrun route_verbalization verbalize_route

It will provide to services :

• route_verbalization/verbalizeRegion
• route_verbalization/verbalizePlace

Expected results

Route : pepper_infodesk -- os_exp_1 -- zizzi

you will find it there
OR
you see there zizzi

Route : pepper_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 : pepper_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 : pepper_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 test.launch

Then call the service testRegion or testPlace :

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

Verification

To check the consistency of your semantic description of the environment, you can execute the draw_route node which will generate images representing each corridor and open space with the elements along them:

$ rosrun route_verbalization draw_route