[jsk_fetch_startup] add speak_and_wait_recovery

jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml

@@ -110,10 +110,14 @@ move_base:
       type: "clear_costmap_recovery/ClearCostmapRecovery"
     - name: "rotate_recovery0"
       type: "rotate_recovery/RotateRecovery"
+    - name: "speak_and_wait0"
+      type: "speak_and_wait_recovery/SpeakAndWaitRecovery"
     - name: "aggressive_reset"
       type: "clear_costmap_recovery/ClearCostmapRecovery"
     - name: "rotate_recovery1"
       type: "rotate_recovery/RotateRecovery"
+    - name: "speak_and_wait1"
+      type: "speak_and_wait_recovery/SpeakAndWaitRecovery"
     - name: "all_reset"
       type: "clear_costmap_recovery/ClearCostmapRecovery"
     - name: "rotate_recovery2"
@@ -125,11 +129,21 @@ move_base:
   rotate_recovery0:
     frequency: 20.0
     sim_granularity: 0.017
+  speak_and_wait0:
+    speak_text: "通れません、道を開けてください"
+    duration_wait: 5.0
+    duration_timeout: 1.0
+    sound_action: /robotsound_jp
   aggressive_reset:
     reset_distance: 1.0 # 0.5
   rotate_recovery1:
     frequency: 20.0
     sim_granularity: 0.017
+  speak_and_wait1:
+    speak_text: "通れません、道を開けてください"
+    duration_wait: 5.0
+    duration_timeout: 1.0
+    sound_action: /robotsound_jp
   all_reset:
     reset_distance: 0.0
   rotate_recovery2: