Merge pull request #1164 from iory/pr2-cable

[jsk_pr2_startup/cable_warning.l] Add moving is OK voice
jsk-ros-pkg · Nov 2, 2019 · b72d890 · b72d890
2 parents 67a7458 + a50a3f0
commit b72d890
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/cable_warning.l b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/cable_warning.l
@@ -41,6 +41,8 @@
 	(a (send msg :ac_present))
 	(tm (ros::time-now)))
     (ros::ros-debug "power-state pc:~A cap:~A" p a)
+    (when (and *ac* (<= a 0))
+      (speak-jp (format nil "PR2、移動可能です。") :wait nil))
     (setq *ac* (> a 0))
     (if (or *ac*
 	    (> 180.0 (send (ros::time- tm *ac-tm*) :to-sec)))