From a50a3f03b16131aab7ce188c53ead444404c27d6 Mon Sep 17 00:00:00 2001 From: iory Date: Fri, 4 Oct 2019 14:24:53 +0900 Subject: [PATCH] [jsk_pr2_startup/cable_warning.l] Add moving is OK voice --- jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/cable_warning.l | 2 ++ 1 file changed, 2 insertions(+) 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 index 03f1fee3b3..cf17a37e5e 100755 --- 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)))