[jsk_fetch_startup] Do not replace sound when other node is speaking

jsk_fetch_robot/jsk_fetch.rosinstall.melodic

@@ -71,6 +71,7 @@
     local-name: mikeferguson/robot_calibration
     uri: https://github.com/mikeferguson/robot_calibration.git
     version: 0.5.5
+# https://github.com/ros-drivers/audio_common/pull/173
 - git:
     local-name: ros-drivers/audio_common
     uri: https://github.com/ros-drivers/audio_common.git

jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch

@@ -34,6 +34,7 @@
   </node>
   <node if="$(arg boot_sound)" pkg="jsk_robot_startup" name="boot_sound" type="boot_sound.py" >
     <param name="wav_file" value="$(find jsk_fetch_startup)/data/boot_sound.wav" />
+    <param name="preferred_interface" value="wlan0" />
   </node>
 
   <!-- look at human for Fetch -->

jsk_fetch_robot/jsk_fetch_startup/scripts/battery_warning.py

@@ -3,19 +3,15 @@
 
 import actionlib
 import rospy
+from sound_play.libsoundplay import SoundClient
 
 from power_msgs.msg import BatteryState
-from sound_play.msg import SoundRequest
-from sound_play.msg import SoundRequestAction
-from sound_play.msg import SoundRequestGoal
 
 
 class BatteryWarning(object):
     def __init__(self):
-        self.client_en = actionlib.SimpleActionClient(
-            '/sound_play', SoundRequestAction)
-        self.client_jp = actionlib.SimpleActionClient(
-            '/robotsound_jp', SoundRequestAction)
+        self.client_en = SoundClient(sound_action='/sound_play', blocking=True)
+        self.client_jp = SoundClient(sound_action='/robotsound_jp', blocking=True)
         self.duration = rospy.get_param('~duration', 180.0)
         self.threshold = rospy.get_param('~charge_level_threshold', 40.0)
         self.step = rospy.get_param('~charge_level_step', 10.0)
@@ -28,17 +24,13 @@ def __init__(self):
         self.is_charging = False
 
     def _speak(self, client, speech_text, lang=None):
-        client.wait_for_server(timeout=rospy.Duration(1.0))
-        sound_goal = SoundRequestGoal()
-        sound_goal.sound_request.sound = -3
-        sound_goal.sound_request.command = 1
-        sound_goal.sound_request.volume = self.volume
+        client.actionclient.wait_for_server(timeout=rospy.Duration(1.0))
         if lang is not None:
-            sound_goal.sound_request.arg2 = lang
-        sound_goal.sound_request.arg = speech_text
-        client.send_goal(sound_goal)
-        client.wait_for_result()
-        return client.get_result()
+            client.say(speech_text, voice=lang, volume=self.volume, replace=False)
+        else:
+            client.say(speech_text, volume=self.volume, replace=False)
+        client.actionclient.wait_for_result()
+        return client.actionclient.get_result()
 
     def _warn(self):
         if self.charge_level < self.threshold and not self.is_charging:

jsk_robot_common/jsk_robot_startup/scripts/boot_sound.py

@@ -3,14 +3,10 @@
 # https://www.youtube.com/watch?v=HM-xG0qXaeA&&
 # ffmpeg -i R2D2\ all\ Sounds\ -\ Star\ Wars\ free\ sounds.mp4 -ss 48 -t 10 R2D2.wav
 
-import rospy
-import time, socket, os
 import netifaces as ni
-import rospkg
+import rospy
 
 from sound_play.libsoundplay import SoundClient
-import actionlib
-from sound_play.msg import SoundRequestAction
 
 if __name__ == "__main__":
     rospy.init_node("boot_sound")
@@ -19,32 +15,30 @@
     else:
         wav_file = "/usr/share/sounds/alsa/Front_Center.wav"
 
-    sound = SoundClient()
-    time.sleep(1) # ???
-    ac = actionlib.SimpleActionClient('sound_play', SoundRequestAction)
-    ac.wait_for_server()
+    sound = SoundClient(sound_action='sound_play', blocking=True)
+    sound.actionclient.wait_for_server()
 
+    interfaces = [x for x in ni.interfaces() if x[0:3] in ['eth', 'enp', 'wla', 'wlp'] and
+                  2 in ni.ifaddresses(x).keys()]
 
-    interfaces =  [x for x in ni.interfaces() if x[0:3] in ['eth', 'enp', 'wla', 'wlp'] and
-                   2 in ni.ifaddresses(x).keys()]
-    if len(interfaces) > 0 :
+    # If preferred interface is given, it is placed at the top of the interfaces list
+    if rospy.has_param("~preferred_interface"):
+        preferred_interface = rospy.get_param("~preferred_interface")
+        if preferred_interface in interfaces:
+            interfaces.remove(preferred_interface)
+        interfaces.insert(0, preferred_interface)
+
+    if len(interfaces) > 0:
         ip = ni.ifaddresses(interfaces[0])[2][0]['addr']
     else:
         ip = None
 
     # play sound
     rospy.loginfo("Playing {}".format(wav_file))
-    sound.playWave(wav_file)
-    time.sleep(10) # make sure to topic is going out
+    sound.playWave(wav_file, replace=False)
 
     # notify ip address
     ip_text = "My internet address is {}".format(ip)
     rospy.loginfo(ip_text)
     ip_text = ip_text.replace('.', ', ')
-    sound.say(ip_text)
-    time.sleep(1) # make sure to topic is going out
-
-
-
-
-
+    sound.say(ip_text, replace=False)