added service name parameter

RoBorregos · Jan 30, 2025 · 388c041 · 388c041
1 parent 856f892
commit 388c041
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/hri/packages/speech/config/hear.yaml b/hri/packages/speech/config/hear.yaml
@@ -2,4 +2,5 @@ hear:
   ros__parameters:
     STT_SERVER_IP: "127.0.0.1:50051"
     START_SERVICE: True
+    STT_SERVICE_NAME: "stt_service"
     detection_publish_topic: "/keyword_detected"
diff --git a/hri/packages/speech/scripts/hear.py b/hri/packages/speech/scripts/hear.py
@@ -49,6 +49,11 @@ def __init__(self):
             .get_parameter_value()
             .bool_value
         )
+        service_name = (
+            self.declare_parameter("STT_SERVICE_NAME", "stt_service")
+            .get_parameter_value()
+            .string_value
+        )
 
         # Initialize the Whisper gRPC client
         self.client = WhisperClient(server_ip)
@@ -85,7 +90,7 @@ def __init__(self):
             )
             self.stt_service = self.create_service(
                 STT,
-                "stt_service",
+                service_name,
                 self.stt_service_callback,
                 callback_group=service_group,
             )