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Feature: sound interface #436
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Roelemans
approved these changes
Jan 15, 2020
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How will you schedule sounds to be played at a certain part of a gait? |
This will still be possible from the state machine, gait selection or gait scheduler even. |
JorisWeeda
approved these changes
Jan 17, 2020
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RutgerVanBeek
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Jan 28, 2020
* Feature: sound interface (#436) * Added sound_play sounds to safety * Removed sound scheduler * Add sound_play_node to launch file * Several small fixes * Fix clang format * Remove sound scheduler exec depend * Clang tidy fixes * Feature/pm246 stairs in sim (#439) * Fix undefined value in xacro when launching on exo. * Add stairs to simulation Co-authored-by: Olav de Haas <[email protected]> * Feature/pm 249 add rockerswitch input (#438) * Added rocker switch variable to the gait instruction msg generated by the (mock) input device. The message can send a 1 which means that the rocker switch has been incremented and a -1 which means that the rocker switch has been decremented. * Added two more variables to the gait instruction message to distinguish increment or decrement of the rocker switch. * Removed the rocker switch argument and created the increment and decrement possibilities as instruction types. Co-authored-by: Roelemans <[email protected]> Co-authored-by: JorisWeeda <[email protected]>
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Closes PM-158
Description
This PR removes the
march_sound_schedulerpackage and uses the ROSsound_playdirectly to play sounds. Since all themarch_sound_schedulerpackage did was receive messages about sounds and passing them on to thesound_playnode.sound_playhas a good library interface for both Python and C++. The sounds are moved to themarch_safetypackage which loads and plays them.Changes
march_sound_schedulersounddirectory inmarch_safety, which contains the fatal and non fatal soundsmarch_safetycode anyway