copy tmc_talk_hoya_py launch file

tue-robotics · May 9, 2019 · 4e99a64 · 4e99a64
1 parent a778291
commit 4e99a64
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Showing 2 changed files with 15 additions and 1 deletion.
diff --git a/hsrb_bringup/launch/hsrb_monitor.launch b/hsrb_bringup/launch/hsrb_monitor.launch
@@ -33,7 +33,7 @@
   </group>
 
   <!-- voice text -->
-  <include file="$(find tmc_talk_hoya_py)/launch/talk_hoya_py.launch"
+  <include file="$(find hero_bringup)/tmc_talk_hoya_py/launch/talk_hoya_py.launch"
            if="$(arg use_talk_hoya)">
     <arg name="respawn" value="true"/>
   </include>

diff --git a/tmc_talk_hoya_py/launch/talk_hoya_py.launch b/tmc_talk_hoya_py/launch/talk_hoya_py.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="respawn" default="false"/>
+  <node pkg="tmc_talk_hoya_py" name="text_to_speech" type="text_to_speech"
+        respawn="$(arg respawn)">
+    <param name="root_path" type="string" value="/opt/tmc" />
+    <param name="pitch" type="int" value="-1" />
+    <param name="speed" type="int" value="90" />
+    <param name="volume" type="int" value="-1" />
+    <param name="pause" type="int" value="-1" />
+    <rosparam param="jpn_voice">["haruka"]</rosparam>
+    <rosparam param="eng_voice">["julie", "bridget"]</rosparam>
+  </node>
+</launch>