From 236b479a8b32aad0f2b785a89951701ce0f2ce8c Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 2 Apr 2021 14:09:13 +0900 Subject: [PATCH] [jsk_fetch_startup] add speak_and_wait_recovery --- .../fetch15/fetch_move_base_common_params.yaml | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml index a0a284bfa1..a08c398b92 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml +++ b/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: