<!-- roslaunch julius_ros julius.launch -->

<launch>
  <arg name="conf_file" default="$(find julius_ros)/conf/main.jconf" />
  <arg name="hmm_def_file" default="$(find julius)/model/phone_m/jnas-tri-3k16-gid.hmmdefs" />
  <arg name="hmm_list_file" default="$(find julius)/model/phone_m/logicalTri" />
  <arg name="word_file" default="$(find julius_ros)/data/udon.dic" />
  <arg name="module_port" default="10500" />
  <arg name="audio_port"  default="10501" />
  <arg name="max_connection_retry" default="0" />
  <arg name="default_threshold" default="0.9" />
  <arg name="start_signal_action_timeout" default="0.3" />
  <arg name="respawn" default="false" />

  <arg name="launch_audio_capture" default="true" />
  <arg name="launch_sound_play" default="true" />
  <arg name="sound_play_topic" default="sound_play" />
  <arg name="speech_to_text_topic" default="speech_to_text" />

  <arg name="device" default=""/>
  <arg name="machine" default="localhost" />
  <arg name="sample_rate" default="16000"/>
  <!-- <arg name="sample_rate" default="8000"/> -->
  <arg name="use_machine" default="true" />
  <arg name="format" default="wave"/>
  <arg name="channels" default="2"/>
  <!-- <arg name="bitrate" default="256000"/> -->
  <arg name="bitrate" default="768000"/>
  <!-- <arg name="depth" default="16"/> -->
  <arg name="depth" default="24"/>

  <machine name="localhost" address="localhost" if="$(arg use_machine)" />

  <!-- run julius (isolated word) -->
  <node name="julius_isolated" pkg="julius_ros" type="run_julius.sh"
        machine="$(arg machine)" respawn="$(arg respawn)"
        args="-C $(arg conf_file)
              -adport $(arg audio_port)
              -module $(arg module_port)
              -h $(arg hmm_def_file)
              -hlist $(arg hmm_list_file)
              -w $(arg word_file)" />

  <!-- audio capture from microphone -->
  <node name="audio_capture" pkg="audio_capture" type="audio_capture"
        if="$(arg launch_audio_capture)"
        machine="$(arg machine)"
        respawn="$(arg respawn)"
        output="screen"
        clear_params="true">
    <!-- <param name="bitrate" value="$(arg bitrate)"/> -->
    <!-- <param name="device" value="$(arg device)"/> -->
    <!-- <param name="format" value="$(arg format)" /> -->
    <!-- <param name="channels" value="$(arg channels)" /> -->
    <!-- <param name="depth" value="$(arg depth)" /> -->
    <!-- <param name="sample_rate" value="$(arg sample_rate)" /> -->

    <param name="device" value="$(arg device)"/>
    <param name="format" value="wave" />
    <param name="channels" value="2" />
    <param name="depth" value="24" />
    <param name="sample_rate" value="8000" />

  </node>

  <!-- sound play -->
  <node name="sound_play" pkg="sound_play" type="soundplay_node.py"
        machine="$(arg machine)"
        respawn="$(arg respawn)"
        if="$(arg launch_sound_play)" />

  <!-- ros / julius interface -->
  <node name="julius_client_isolated"
        pkg="julius_ros" type="julius_client.py"
        machine="$(arg machine)"
        respawn="$(arg respawn)"
        output="screen">
    <remap from="sound_play" to="$(arg sound_play_topic)" />
    <remap from="speech_to_text" to="$(arg speech_to_text_topic)" />
    <rosparam subst_value="true">
      use_isolated_word: true
      audio_port: $(arg audio_port)
      module_port: $(arg module_port)
      max_connection_retry: $(arg max_connection_retry)
      threshold: $(arg default_threshold)
      start_signal_action_timeout: $(arg start_signal_action_timeout)
    </rosparam>
  </node>
</launch>