def tts_speak(text, wait_before_speaking=0):
"""
Lets the robot say the given text out aloud. This is a blocking call.
"""
from pal_interaction_msgs.msg import SoundAction, SoundGoal
global __tts_client
if __tts_client is None:
__tts_client = actionlib.SimpleActionClient(TTS_ACTION_NAME, SoundAction)
rospy.logdebug('Waiting for "%s"...' % TTS_ACTION_NAME)
if not __tts_client.wait_for_server(rospy.Duration(1.0)):
rospy.logwarn('Couldn\'t connect to "%s" server.' % TTS_ACTION_NAME)
return False
tts_goal = SoundGoal()
tts_goal.wait_before_speaking = rospy.Duration(wait_before_speaking)
tts_goal.text = text
rospy.logdebug('Sent speak command with "%s" (wait: %.3f seconds).' % (
text, wait_before_speaking))
__tts_client.send_goal(tts_goal)
__tts_client.wait_for_result()
result = __tts_client.get_state()
rospy.logdebug('Result for last speech command: %s' % result)
return result == GoalStatus.SUCCEEDED
def createTTSGoal(text, lang_id='', wait_before_speaking=rospy.Duration(0.0)):
"""Creates a
@arg j1 float value for head_1_joint
@returns FollowJointTrajectoryGoal with the specified goal"""
sound_goal = SoundGoal()
sound_goal.text=text
sound_goal.lang_id=lang_id
sound_goal.wait_before_speaking=wait_before_speaking
return sound_goal
def create_say_goal(self, tts_text, tts_wait_before_speaking, tts_lang):
rospy.loginfo(tts_text)
say_goal = SoundGoal()
say_goal.wait_before_speaking.secs = tts_wait_before_speaking
say_goal.wait_before_speaking.nsecs = 0
say_goal.text = tts_text
say_goal.lang_id = tts_lang
return say_goal
def create_say_goal(self, tts_text, tts_wait_before_speaking, tts_lang):
rospy.loginfo(tts_text)
say_goal = SoundGoal()
say_goal.wait_before_speaking.secs = tts_wait_before_speaking
say_goal.wait_before_speaking.nsecs = 0
say_goal.text = tts_text
say_goal.lang_id = tts_lang
return say_goal
def createTTSGoal(text, lang_id='', wait_before_speaking=rospy.Duration(0.0)):
"""Creates a
@arg j1 float value for head_1_joint
@returns FollowJointTrajectoryGoal with the specified goal"""
sound_goal = SoundGoal()
sound_goal.text = text
sound_goal.lang_id = lang_id
sound_goal.wait_before_speaking = wait_before_speaking
return sound_goal
