Merge pull request #1381 from knorth55/check-use-sim-time-app

[jsk_robot_startup] add check_use_sim_time app

jsk_robot_common/jsk_robot_startup/apps/check_use_sim_time/check_use_sim_time.app

@@ -0,0 +1,5 @@
+display: Check /use_sim_time param 
+platform: all
+launch: jsk_robot_startup/check_use_sim_time.xml
+interface: jsk_robot_startup/check_use_sim_time.interface
+icon: jsk_robot_startup/check_use_sim_time.png

jsk_robot_common/jsk_robot_startup/apps/check_use_sim_time/check_use_sim_time.interface

@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}

jsk_robot_common/jsk_robot_startup/apps/check_use_sim_time/check_use_sim_time.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import actionlib
+import rospy
+import sys
+
+from sound_play.msg import SoundRequestAction
+from sound_play.msg import SoundRequestGoal
+
+
+class CheckUseSimTime(object):
+    def __init__(self):
+        self.warning = rospy.get_param('~warning', True)
+        self.override = rospy.get_param('~override', True)
+        self.client_jp = actionlib.SimpleActionClient(
+            '/robotsound_jp', SoundRequestAction)
+
+    def run(self):
+        use_sim_time = rospy.get_param('/use_sim_time', None)
+        if use_sim_time:
+            if self.warning:
+                self._speak(
+                    self.client_jp,
+                    'use sim timeパラメータがTrueで設定されています',
+                    'jp')
+            if self.override:
+                if self.warning:
+                    self._speak(
+                        self.client_jp,
+                        'use sim timeパラメータをFalseに上書きます',
+                        'jp')
+                rospy.set_param('/use_sim_time', False)
+
+    def _speak(self, client, speech_text, lang=None):
+        client.wait_for_server(timeout=rospy.Duration(1.0))
+        sound_goal = SoundRequestGoal()
+        sound_goal.sound_request.sound = -3
+        sound_goal.sound_request.command = 1
+        sound_goal.sound_request.volume = 1.0
+        if lang is not None:
+            sound_goal.sound_request.arg2 = lang
+        sound_goal.sound_request.arg = speech_text
+        client.send_goal(sound_goal)
+        client.wait_for_result()
+        return client.get_result()
+
+
+if __name__ == '__main__':
+    rospy.init_node('check_use_sim_time')
+    app = CheckUseSimTime()
+    app.run()
+    sys.exit(0)

jsk_robot_common/jsk_robot_startup/apps/check_use_sim_time/check_use_sim_time.xml

@@ -0,0 +1,3 @@
+<launch>
+  <node name="check_use_sim_time" pkg="jsk_robot_startup" type="check_use_sim_time.py" output="screen"/>
+</launch>

jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed

@@ -1,3 +1,5 @@
 apps:
   - app: jsk_robot_startup/personal_use
     display: Personal use 
+  - app: jsk_robot_startup/check_use_sim_time
+    display: Check /use_sim_time param