[jsk_robot_startup/shutdown.py] Parameterize timeout values

jsk_robot_common/jsk_robot_startup/scripts/shutdown.py

@@ -57,9 +57,13 @@ def __init__(self):
         self.reboot_command = rospy.get_param(
             '~reboot_command', '/sbin/shutdown -r now')
         self.volume = rospy.get_param('~volume', 1.0)
+        self.timeout_server = rospy.get_param('~timeout_server', 1.0)
+        self.timeout_result = rospy.get_param('~timeout_result', 10.0)
 
     def speak(self, text, lang='jp'):
-        if self.client.wait_for_server(timeout=rospy.Duration(1.0)):
+        timeout_server = rospy.Duration(self.timeout_server)
+        timeout_result = rospy.Duration(self.timeout_result)
+        if self.client.wait_for_server(timeout=timeout_server):
             msg = SoundRequest()
             msg.sound = SoundRequest.SAY
             msg.command = SoundRequest.PLAY_ONCE
@@ -68,7 +72,7 @@ def speak(self, text, lang='jp'):
             msg.arg2 = lang
             goal = SoundRequestGoal(sound_request=msg)
             self.client.send_goal(goal)
-            self.client.wait_for_result(timeout=rospy.Duration(10.0))
+            self.client.wait_for_result(timeout=timeout_result)
             return self.client.get_result()
 
     def callback(self, msg):