ou tan

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from std_msgs.msg import String
from std_msgs.msg import Float32MultiArray

class CreateSpeech:

def __init__(self):

# init node
rospy.init_node('create_speech')

# Publisher
self.pub = rospy.Publisher('speech', String, queue_size=1)

# Subscriber
rospy.Subscriber('objects', Float32MultiArray, self.callback)

# recognized object
self.obj_name = ''

def callback(self, msg):

if len(msg.data):
rospy.loginfo('object found.')

# get object ID
idx = int(msg.data[0])

# if the dictionary includes the object ID
if idx in self.known_objects:
self.obj_name = self.known_objects[idx]
else:
rospy.loginfo('object NOT found.')
self.obj_name = ''

def pub_speech(self):

if self.obj_name != '':
speech_str = self.obj_name + 'だね'
self.pub.publish(speech_str)

def main():

speech = CreateSpeech()

# loop rate [Hz]
r = rospy.Rate(0.3)

while not rospy.is_shutdown():
speech.pub_speech()
r.sleep()

if __name__ == '__main__':
try:
main()
except rospy.ROSInterruptException:
pass