From 4e6e77144b285212ad62758e1e5d37245841c1be Mon Sep 17 00:00:00 2001 From: iory Date: Thu, 7 Jul 2022 03:04:28 +0900 Subject: [PATCH] [jsk_tools/audible_warning] Set wait_speak_duration_time to wait action server result. --- doc/jsk_tools/scripts/audible_warning.md | 4 ++++ jsk_tools/node_scripts/audible_warning.py | 4 +++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/doc/jsk_tools/scripts/audible_warning.md b/doc/jsk_tools/scripts/audible_warning.md index 72849c0d8..95fb4d3a9 100644 --- a/doc/jsk_tools/scripts/audible_warning.md +++ b/doc/jsk_tools/scripts/audible_warning.md @@ -49,6 +49,10 @@ Robots using diagnostics can use this node. This is useful for ignoring errors that occur when the robot starts. +* `~wait_speak_duration_time` (`Float`, default: `30.0`) + + Waiting time in `robotsound` action. + * `~enable` (`Bool`, default: `True`) If `True`, speak diagnositcs. If `False`, this node don't speak. diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py index 4f9cb98dd..f1bd39845 100755 --- a/jsk_tools/node_scripts/audible_warning.py +++ b/jsk_tools/node_scripts/audible_warning.py @@ -181,6 +181,8 @@ def __init__(self): language = rospy.get_param('~language', '') seconds_to_start_speaking = rospy.get_param( '~seconds_to_start_speaking', 0) + wait_speak_duration_time = rospy.get_param( + '~wait_speak_duration_time', 30.0) # Wait until seconds_to_start_speaking the time has passed. self.run_stop_enabled_time = None @@ -209,7 +211,7 @@ def __init__(self): self.speak_thread = SpeakThread( speak_rate, wait_speak, language, - wait_speak_duration_time=seconds_to_start_speaking) + wait_speak_duration_time=wait_speak_duration_time) self.srv = Server(Config, self.config_callback) # run-stop