command_recognition.launch

<launch>

  <group ns="speech_node">
    <node name="audio_capture" pkg="audio_capture" type="audio_capture" output="screen">
      <!-- Commandline: "arecord -l" will show available input devices, use the card number as
        the first number and the subdevice number as the second in a string
        like plughw:1,0 -->
      <param name="device" value="plughw:3,0" />
      <param name="format" value="wave" />
      <param name="channels" value="1" />
      <param name="depth" value="16" />
      <param name="sample_rate" value="16000" />
    </node>
        <node name="speech_extraction_node" pkg="marimbabot_speech" type="speech_extraction.py" output="screen">
        <param name="model_path"  value="$(find marimbabot_speech)/utils/kws/hi-marimbabot.pb"/>
        <param name="precise_engine_path"  value="$(find marimbabot_speech)utils/kws/precise-engine/precise-engine"/>
        <param name="remind_sound_path"  value="$(find marimbabot_speech)/utils/kws/reminder.wav"/>
        <param name="trigger_level"  value="4"/>
        <param name="sensitivity"  value="0.5"/>
        <param name="wad_silence_t"  value="1"/>
        <param name="wad_max_t"  value="5"/>
    </node>
    <node name="speech2text_node" pkg="marimbabot_speech" type="speech2text.py" output="screen"/>
    <node name="text2command_node" pkg="marimbabot_speech" type="text2command.py" output="screen">
        <param name="no_speech_prob_threshold"  value="0.25"/>
    </node>
  </group>
</launch>