From 2733c23ce93ef838a9bb745d084d794b4475598a Mon Sep 17 00:00:00 2001
From: "Alan G. Sanchez" <sanchala@oregonstate.edu>
Date: Mon, 29 Aug 2022 11:57:02 -0700
Subject: [PATCH] Fixed typos.

---
 example_8.md | 23 ++++-------------------
 1 file changed, 4 insertions(+), 19 deletions(-)

diff --git a/example_8.md b/example_8.md
index 6cef522..06080b4 100644
--- a/example_8.md
+++ b/example_8.md
@@ -2,19 +2,15 @@
 
 This example will showcase how to save the interpreted speech from Stretch's [ReSpeaker Mic Array v2.0](https://wiki.seeedstudio.com/ReSpeaker_Mic_Array_v2.0/) to a text file.
 
-
 <p align="center">
   <img src="images/respeaker.jpg"/>
 </p>
 
-
-
-Begin by running the `sample_respeaker.launch` file in a terminal.
+Begin by running the `respeaker.launch` file in a terminal.
 ```bash
 # Terminal 1
 roslaunch stretch_core respeaker.launch
 ```
-
 Then run the speech_text node.
 
 ```bash
@@ -22,7 +18,6 @@ Then run the speech_text node.
 cd catkin_ws/src/stretch_tutorials/src/
 python speech_text.py
 ```
-
 The ReSpeaker will be listening and will start to interpret speech and save the transcript to a text file.  To stop shutdown the node, type **Ctrl** + **c** in the terminal.
 
 ### The Code
@@ -66,7 +61,6 @@ if __name__ == '__main__':
     rospy.spin()
 ```
 
-
 ### The Code Explained
 Now let's break the code down.
 
@@ -75,18 +69,15 @@ Now let's break the code down.
 ```
 Every Python ROS [Node](http://wiki.ros.org/Nodes) will have this declaration at the top. The first line makes sure your script is executed as a Python script.
 
-
 ```python
 import rospy
 import os
 ```
-
-You need to import rospy if you are writing a ROS Node.
+You need to import `rospy` if you are writing a ROS [Node](http://wiki.ros.org/Nodes).
 
 ```python
 from speech_recognition_msgs.msg import SpeechRecognitionCandidates
 ```
-
 Import `SpeechRecognitionCandidates` from the `speech_recgonition_msgs.msg` so that we can receive the interpreted speech.
 
 ```python
@@ -96,35 +87,29 @@ def __init__(self):
     """
     self.sub = rospy.Subscriber("speech_to_text", SpeechRecognitionCandidates, self.callback)
 ```
-
 Set up a subscriber.  We're going to subscribe to the topic "*speech_to_text*", looking for `SpeechRecognitionCandidates` messages. When a message comes in, ROS is going to pass it to the function "callback" automatically.
 
 ```python
 self.save_path = '/home/hello-robot/catkin_ws/src/stretch_tutorials/stored_data
 ```
-
 Define the directory to save the text file.
 
 ```python
 transcript = ' '.join(map(str,msg.transcript))
 ```
-
 Take all items in the iterable list and join them into a single string named transcript.
 
 ```python
 file_name = 'speech.txt'
 completeName = os.path.join(self.save_path, file_name)
 ```
-
 Define the file name and create a complete path directory.
 
-
 ```python
 with open(completeName, "a+") as file_object:
     file_object.write("\n")
     file_object.write(transcript)
 ```
-
 Append the transcript to the text file.
 
 ```python
@@ -132,9 +117,9 @@ rospy.init_node('speech_text')
 SpeechText()
 
 ```
-The next line, `rospy.init_node(NAME, ...)`, is very important as it tells rospy the name of your node -- until rospy has this information, it cannot start communicating with the ROS Master. In this case, your node will take on the name talker. NOTE: the name must be a base name, i.e. it cannot contain any slashes "/".
+The next line, `rospy.init_node(NAME, ...)`, is very important as it tells rospy the name of your node -- until rospy has this information, it cannot start communicating with the ROS Master. **NOTE:** the name must be a base name, i.e. it cannot contain any slashes "/".
 
-Instantiate the class with `SpeechText()`
+Instantiate the `SpeechText()` class.
 
 ```python
 rospy.spin()