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[jsk_fetch_startup] speak also battery information in english #1293

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merged 3 commits into from
Jul 16, 2021
Merged

[jsk_fetch_startup] speak also battery information in english #1293

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97b525a
speak also battery information in english
knorth55 Dec 1, 2020
7d15658
Merge branch 'master' into fetch-battery-speak-en
knorth55 Jan 7, 2021
c1c4d5a
Merge branch 'master' into fetch-battery-speak-en
k-okada Jul 16, 2021
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41 changes: 26 additions & 15 deletions jsk_fetch_robot/jsk_fetch_startup/scripts/battery_warning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,10 @@

class BatteryWarning(object):
def __init__(self):
self.speak_client = actionlib.SimpleActionClient('/robotsound_jp', SoundRequestAction)
self.client_en = actionlib.SimpleActionClient(
'/sound_play', SoundRequestAction)
self.client_jp = actionlib.SimpleActionClient(
'/robotsound_jp', SoundRequestAction)
self.duration = rospy.get_param('~duration', 180.0)
self.threshold = rospy.get_param('~charge_level_threshold', 40.0)
self.step = rospy.get_param('~charge_level_step', 10.0)
Expand All @@ -23,27 +26,35 @@ def __init__(self):
self.prev_charge_level = None
self.is_charging = False

def _speak(self, sentence):
req = SoundRequest()
req.command = SoundRequest.PLAY_ONCE
req.sound = SoundRequest.SAY
req.arg = sentence
req.arg2 = 'ja'
req.volume = 0.8
self.speak_client.send_goal(SoundRequestGoal(sound_request=req))
self.speak_client.wait_for_result(timeout=rospy.Duration(10))
def _speak(self, client, speech_text, lang=None):
client.wait_for_server(timeout=rospy.Duration(1.0))
sound_goal = SoundRequestGoal()
sound_goal.sound_request.sound = -3
sound_goal.sound_request.command = 1
sound_goal.sound_request.volume = 1.0
if lang is not None:
sound_goal.sound_request.arg2 = lang
sound_goal.sound_request.arg = speech_text
client.send_goal(sound_goal)
client.wait_for_result()
return client.get_result()

def _warn(self):
if self.charge_level < self.threshold and not self.is_charging:
rospy.logerr("Low battery: only {}% remaining".format(self.charge_level))
sentence = "バッテリー残り{}パーセントです。".format(self.charge_level)
sentence += "もう限界ですので、僕をお家にかえしてください。"
self._speak(sentence)
sentence_jp = "バッテリー残り{}パーセントです。".format(self.charge_level)
sentence_jp += "もう限界ですので、僕をお家にかえしてください。"
sentence_en = "My battery is {} percent remaining.".format(self.charge_level)
sentence_en += "I want to go back home to charge my battery."
self._speak(self.client_jp, sentence_jp, 'jp')
self._speak(self.client_en, sentence_en)
self.prev_charge_level = self.charge_level
elif (self.prev_charge_level // self.step) > (self.charge_level // self.step):
rospy.loginfo("Battery: {}% remaining".format(self.charge_level))
sentence = "バッテリー残り{}パーセントです。".format(self.charge_level)
self._speak(sentence)
sentence_jp = "バッテリー残り{}パーセントです。".format(self.charge_level)
sentence_en = "My battery is {} percent remaining.".format(self.charge_level)
self._speak(self.client_jp, sentence_jp, 'jp')
self._speak(self.client_en, sentence_en)
self.prev_charge_level = self.charge_level

def _cb(self, msg):
Expand Down