# Copyright Nicolai Bæk Thomsen
# Author: Nicolai Bæk Thomsen, Dept. Electronic Systems, Aalborg University
# Date: 23/8 2017
# 
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#   This program is free software; you can redistribute it and/or modify
#   it under the terms of the GNU General Public License as published by
#   the Free Software Foundation; either version 2 of the License, or
#   (at your option) any later version.
#
#   This program is distributed in the hope that it will be useful,
#   but WITHOUT ANY WARRANTY; without even the implied warranty of
#   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#   GNU General Public License for more details.
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#   You can obtain a copy of the GNU General Public License from
#   http://www.gnu.org/copyleft/gpl.html or by writing to
#   Free Software Foundation, Inc.,675 Mass Ave, Cambridge, MA 02139, USA.
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- Introduction:
The code is intended to run in the Robot Operating System (ROS) framework, however much of the interface with audio (recording and playback) is written specfically for this custom system, thus it may not function on other systems.

- Content: 
This archive contains the following:
	- leg_detection: package for laser-based leg-detection for human detection
	- audio_record: package for recording audio from Microsoft Kinect
	- sir_driven_positioning: main package for finding the best position for listening to an acoustic source(described in paper)

- Instructions on interface:
The setup is intended to run distributed, in the sense that all processing is done on a base machine and not the onboard computer. Because of this some hardware specific code has been written to interface with audio, which is supplied here, but may not work on other systems.

- Dependencies:
The system is intended for a TurtleBot, thus either this must be used or the launch file should be altered to work with another platform. The same goes for the microphone array(s) and laser scanner. We assue that a running TurtleBot system is already in place.

- Instructions:
It is important to set the IP addresses correct in the launch file. Furthermore, some places in sir_driven_positioning/scripts/sir_driven_positioning.py node addresses have been hard coded, hence they should be set correctly on any new system.

Steps:
1: Copy folder to your catkin workspace
2: Run catkin_make in your catkin workspace
3: Go through sir_positioning.launch to make sure that all paths are set correctly 
4: roslaunch speech_navigation speech_navigation.launch