#!/bin/bash

# Copyright: 2016-2018 ROS小课堂 www.corvin.cn
# Author: corvin
# Description: Stop voice system ros node.
# History:
#    20181129: initial this bash file.

source /opt/ros/kinetic/setup.bash


pid=`ps -ef|grep voice_bringup.launch|grep -v grep|awk '{print $2}'`
if [ -n "$pid" ]
then
    rosnode kill /iflytek_asr_node
    rosnode kill /iflytek_tts_node
    rosnode kill /pocketSphinx_recognizer_node
    rosnode kill /save_response_node
    rosnode kill /sphinx_wakeup_node
    rosnode kill /tuling_nlu_node
    rosnode kill /voice_move_node

    echo "kill voice system bringup pid:" $pid
    kill -9 $pid
fi

exit 0