The user can interact with AIML either by text chatting or speech. The speech recognition node will not do speech recognition. Instead, it will receive the converted text from a speech recognition system and input it to the AIML server.

This ROS node loads AIML files from the database and saves them into brain files. It subscribes to /chatter(std_msgs/String) topic. The string data from the /chatter topic is the input of the AIML interpreter. The response from the AIML interpreter is published through the /response (std_msgs/String) topic.

This ROS node waits for user input and once the node gets the input, it will publish it to the /chatter topic

The AIML server publishes the response to the /response topic. The tts client node will subscribe to this topic and convert it to speech.

This node will subscribe to the output from the speech recognition system and publish it to the /chatter topic.