[jsk_fetch_startup] Add audible warning

jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml

@@ -0,0 +1,12 @@
+blacklist:
+  - name: "/CPU/CPU Usage/my_machine CPU Usage"
+  - name: "/Other/amcl: Standard deviation"
+  - name: "/Other/jsk_joy_node: Joystick Driver Status"
+  - name: "/Other/l515_head l515_head_realsense2_camera_.*: Frequency Status"
+  - name: "/Peripherals/PS3 Controller"
+  - name: "/Sensors/IMU/IMU.*"
+  - name: "/SoundPlay/sound_play.*"
+run_stop_blacklist:
+  - name: "\\w*_(mcb|breaker)"
+  - name: "Mainboard"
+    message: "Runstop pressed"

jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch

@@ -264,4 +264,18 @@
     <include file="$(find jsk_fetch_startup)/launch/fetch_rosserial.launch" />
   </group>
 
+  <node name="audible_warning"
+        pkg="jsk_tools" type="audible_warning.py"
+        clear_params="true"
+        output="screen" >
+    <remap from="/robotsound" to="/sound_play" />
+    <rosparam command="load" file="$(find jsk_fetch_startup)/config/warning_blacklist.yaml" />
+    <rosparam>
+      run_stop_topic: robot_state
+      run_stop_condition: "m.runstopped is True"
+      seconds_to_start_speaking: 60
+      speak_interval: 600
+    </rosparam>
+  </node>
+
 </launch>