text: #!/usr/bin/env python3
  import sys
  import os
  import rospkg
  import rospy
  import core
  
  
  if __name__ == '__main__':
      rospy.init_node('find_book_demo')
  
  astra = core.Astra()
  navigation = core.Navigation()
  respeaker = core.Respeaker()
  tts = core.YourTTS(['/home/hcng/catkin_ws/src/home_service_robot/scripts/sample.wav'])
  pose_dict = core.utils.PoseDict.load('book_poses.yaml')
  
  
  def find_book(name: str):
      tts.say(f'Okay, I will bring you to {name}')
      target_book_pose = pose_dict[name.strip()]
      navigation.move_to_pose(target_book_pose)
  
  
  if __name__ == '__main__':
      find_book('')
  