[speak_and_wait_recovery] add speak_and_wait_recovery package

[sktometometo]

Moved from jsk-ros-pkg/jsk_common#1681

Add a RecoveryBehavior plugin package which enables a robot to speak and wait when get stuck.

output.mp4

[k-okada]

@sktometometo
something wrong with test code

 + error
  Full test results for 'speak_and_wait_recovery/test_results/speak_and_wait_recovery/rosunit-test_speak_and_wait_recovery.xml'
  + travis_time_end 31
  + set +x
  -------------------------------------------------
  <?xml version="1.0" encoding="utf-8"?>
  <testsuite errors="1" failures="0" name="unittest.suite.TestSuite" tests="1" time="59.536"><testcase classname="__main__.TestSpeakAndWaitRecovery" name="test_speak_and_wait_recovery" time="59.5354"><error type="UnboundLocalError">local variable 'msg' referenced before assignment
    File "/usr/lib/python2.7/unittest/case.py", line 329, in run
      testMethod()
    File "/github/home/ros/ws_jsk_robot/src/jsk_robot/jsk_robot_common/speak_and_wait_recovery/test/test_speak_and_wait.py", line 31, in test_speak_and_wait_recovery
      self.assertEqual(msg.sound, -3)
  </error></testcase><system-out>&lt;![CDATA[
  
  ]]&gt;</system-out><system-err>&lt;![CDATA[
  
  ]]&gt;</system-err></testsuite>
  -------------------------------------------------
  Full test results for 'speak_and_wait_recovery/test_results/speak_and_wait_recovery/rostest-test_speak_and_wait_recovery.xml'
  -------------------------------------------------
  <?xml version="1.0" encoding="utf-8"?>
  <testsuite errors="1" failures="0" name="unittest.suite.TestSuite" tests="1" time="66.671"><testcase classname="rostest.runner.RosTest" name="testtest_speak_and_wait_recovery" time="66.6709"><error type="RLTestTimeoutException">max time [60.0s] allotted for test [test_speak_and_wait_recovery] of type [speak_and_wait_recovery/test_speak_and_wait.py]
    File "/usr/lib/python2.7/unittest/case.py", line 329, in run
      testMethod()
    File "/opt/ros/melodic/lib/python2.7/dist-packages/rostest/runner.py", line 148, in fn
      self.test_parent.run_test(test)
    File "/opt/ros/melodic/lib/python2.7/dist-packages/rostest/rostest_parent.py", line 132, in run_test
      return self.runner.run_test(test)
    File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/launch.py", line 689, in run_test
      (test.time_limit, test.test_name, test.package, test.type))
  </error></testcase><system-out>&lt;![CDATA[
  [ROSTEST]setup[/github/home/ros/ws_jsk_robot/src/jsk_robot/jsk_robot_common/speak_and_wait_recovery/test/speak_and_wait_recovery.test] run_id[d9703d88-20e1-11ec-b745-0242ac120002] starting