def sayVoltage(self):
msg = VoiceAnnouncement()
msg.priority = VoiceAnnouncement.FIRST
if self.voltage is not None:
msg.words = "Battery voltage, %4.1f"%self.voltage
else:
msg.words = "No battery voltage reported"
self.audioPub.publish(msg)
def voltageCallBack(self, float):
self.voltage=float.data
#rospy.logdebug("voltage_announcer received voltage %f", self.voltage)
if ((self.voltage <= self.lowVoltageLimit) and not self.whine_guard):
msg = VoiceAnnouncement()
msg.priority = VoiceAnnouncement.FIRST
msg.words = "Warning. Battery voltage, %4.1f"%self.voltage
self.audioPub.publish(msg)
self.whine_guard = True
rospy.Timer(rospy.Duration(15.0), self.clear_guard, oneshot = True)
def say(self, utterance):
msg = VoiceAnnouncement()
msg.priority = VoiceAnnouncement.OVERRIDE
msg.words = utterance
self.audio_pub.publish(msg)