Merge pull request #1286 from knorth55/pr2-launch-soundplay

jsk-ros-pkg · Jul 18, 2021 · 69a4601 · 69a4601
2 parents 09b968f + df336a6
commit 69a4601
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Showing 2 changed files with 14 additions and 13 deletions.
diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
@@ -8,7 +8,6 @@
   <arg name="launch_moveit" default="false" />
   <arg name="launch_imagesift" default="false" />
   <arg name="launch_facedetection" default="false" />
-  <arg name="launch_sound_play" default="true" />
   <arg name="launch_mjpeg_server" default="false" />
   <arg name="launch_gripper_sensor" default="true" />
   <arg name="launch_virtual_force" default="true" />
@@ -60,15 +59,6 @@
     <arg name="keepout" value="$(arg use_map_keepout)" />
   </include>
 
-  <!-- japanese speech node -->
-  <include file="$(find voice_text)/launch/voice_text.launch"
-           if="$(arg launch_sound_play)">
-    <arg name="use_machine" value="false" />
-    <arg name="sound_play_machine" value="c1" />
-    <arg name="voice_text_machine" value="c1" />
-    <arg name="sound_play_respawn" value="true" />
-  </include>
-
   <!-- kinect node -->
   <include if="$(arg launch_kinect)"
            file="$(find jsk_pr2_startup)/jsk_pr2_sensors/kinect_head.launch" />

diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch
@@ -5,6 +5,7 @@
   <arg name="launch_ntp_monitor" default="true"/>
   <arg name="launch_wifi_ddwrt" default="false" />
   <arg name="launch_network_detector" default="true" />
+  <arg name="launch_sound_play" default="true"/>
   <arg name="launch_network_status" default="true" />
   <arg name="launch_audio_play" default="true"/>
   <arg name="launch_app_manager" default="true" />
@@ -138,9 +139,19 @@
   <include file="$(find pr2_bringup)/config/l_forearm_cam.launch" />
 
   <!-- Sound -->
-  <node pkg="sound_play" type="soundplay_node.py" machine="c1" name="sound_play" respawn="true">
-    <remap from="sound_play" to="robotsound" />
-  </node>
+  <group if="$(arg launch_sound_play)">
+    <node pkg="sound_play" type="soundplay_node.py" machine="c1" name="sound_play" respawn="true">
+      <remap from="sound_play" to="robotsound" />
+    </node>
+
+    <!-- japanese speech node -->
+    <include file="$(find voice_text)/launch/voice_text.launch">
+      <arg name="use_machine" value="false" />
+      <arg name="sound_play_machine" value="c1" />
+      <arg name="voice_text_machine" value="c1" />
+      <arg name="sound_play_respawn" value="true" />
+    </include>
+  </group>
 
   <!-- Virtual force -->
   <include file="$(find virtual_force_publisher)/launch/dualarm_virtual_force_publisher.launch" />