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