Turn DialogOS into a ROS node

Author: Timo Baumann

Implements a node in the robot operating system that allows to run and control DialogOS:

• select and start arbitrary dialog models
• abort an ongoing dialog

The node accepts the following commands on the DialogOS_cmd topic:

• LOAD <FILE> where FILE points to the dialog model to be loaded, relative to the node's working directory
• START starts the loaded dialog model
• ABORT aborts the ongoing dialog

The Java property "dialogos.showGUI" controls whether the system shows the GUI once a model is loaded. The default is false (for server-based execution).

To try out this node, fire up roscore, set ROS_MASTER_URI and ROS_IP accordingly, call ./gradlew run and eventually send the following via rostopic:

• rostopic pub /DialogOS_cmd std_msgs/String "LOAD recursive.dos"
• rostopic pub /DialogOS_cmd std_msgs/String "START"
• say something like "one plus two plus three" and hear "the result is six".
• you can now START again :-)