Merge pull request jsk-ros-pkg#123 from kochigami/master

nao and pepper speaking function added

jsk_nao_robot/naoeus/euslisp/nao-interface.l

@@ -101,10 +101,14 @@
    ()
    (send self :go-velocity 0 0 0 0 :stop nil)
    )
-
+  
   (:speak
    (str)
+   (let ((speech_msg (instance std_msgs::String :init)))
+     (send speech_msg :data str) 
+     (ros::publish "/speech" speech_msg))
    )
+
   (:start-grasp
    (&optional (arm :arms))
    )

jsk_pepper_robot/jsk_pepper_startup/tweet.l

@@ -6,7 +6,14 @@
 
 
 (ros::advertise "/tweet" std_msgs::String 1)
+(ros::advertise "/speech" std_msgs::String 1)
 ;;(ros::advertise "robotsound_jp" sound_play::SoundRequest 5)
+(defun speak-jp (str)
+  (let ((speech_msg (instance std_msgs::String :init)))
+    (send speech_msg :data str)
+    (ros::publish "/speech" speech_msg))
+  )
+
 
 (defun tweet (str)
   ;; camera shot sound
@@ -15,14 +22,21 @@
 ;;			  :sound sound_play::SoundRequest::*play_file*
 ;;			  :command sound_play::SoundRequest::*play_once*
 ;;			  :arg (ros::resolve-ros-path "package://jsk_pr2_startup/jsk_pr2_lifelog/camera.wav")))
-
+  (speak-jp "写真を撮るよ")
+  (speak-jp "さん")
+  (unix:sleep 1)
+  (speak-jp "に")
+  (unix:sleep 1)
+  (speak-jp "いち")
+  (unix:sleep 1)
+  (speak-jp "カシャ！")
   ;; save image sto /tmp/pepper_camera.jpg
   (ros::service-call "/image_saver/save" (instance std_srvs::EmptyRequest :init))
   (ros::sleep 3)
   (ros::ros-info "save image")
   ;; tweet
   (ros::publish "/tweet" (instance std_msgs::String :init :data (format nil "~A /tmp/pepper_camera.png" str)))
-;;  (speak-jp "ついーとしました")
+  (speak-jp (format nil "~A って ついーとしました" str))
   (ros::ros-info "tweet ~A" str)
   )