Merge pull request jsk-ros-pkg#106 from garaemon/speak-battery-remaining

Speak the remaining percentages of the battery if it's not charged

Author: garaemon

jsk_pr2_startup/jsk_pr2_warning/battery_warning.l

@@ -5,6 +5,7 @@
 (ros::roseus-add-msgs "pr2_msgs")
 (ros::roseus-add-msgs "actionlib_msgs")
 (ros::roseus-add-srvs "std_srvs")
+(load "package://pr2eus/speak.l")
 
 (setq *ac* nil *ac-tm* (ros::time 0)) ;; ac_present > 0
 (setq *motor* t) ;; if motors working
@@ -30,6 +31,7 @@
 	    (> 180.0 (send (ros::time- tm *ac-tm*) :to-sec)))
 	(return-from check-power-state-cb nil))
     (setq *ac-tm* tm) ;; check every 3min
+    (speak-jp (format nil "でんちのこり~Aパーセントです" p))
     (cond 
 	  ((< p 10)
 	   (ros::ros-info "need to back to M78 nebula")
@@ -48,4 +50,5 @@
 (ros::roseus "battery_warning")
 (ros::subscribe "/power_state" pr2_msgs::PowerState #'check-power-state-cb)
 (ros::advertise "/robotsound" sound_play::SoundRequest 10)
+(ros::advertise "/robotsound_jp" sound_play::SoundRequest 5)
 (ros::spin)