pr2eus: partially revert speak function #332
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k-okada
commented
Dec 11, 2017
| (when timeout | ||
| (send *ri* :speak-timeout timeout-bak))))) | ||
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| (defun speak-en (text &key wait timeout (topic-name "robotsound")) |
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@furushchev , are we ok to remove 'timeout' keyword?
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@k-okada Yes, I changed to use topic if no response returns from action server, instead of waiting for it. So these functions now behave non-blocking.
| (play-sound text | ||
| :topic-name topic-name | ||
| :wait wait | ||
| :arg2 (if (keywordp lang) |
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what is arg2 arguments? are we still using this?
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It is from sound_play message. http://docs.ros.org/jade/api/sound_play/html/msg/SoundRequest.html
We are using for specifying language or speech engine.
furushchev
approved these changes
Dec 11, 2017
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@k-okada Thanks!
OK. Testing with actionlib is anyway disabled on original codes.
k-okada
referenced
this pull request
in start-jsk/jsk_apc
Jan 7, 2018
k-okada
changed the title
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revrited version of #331, we need
(speak-jp)without*ri*This reverts commit ecb2a1e.