From 2f0e1de0eb96ac2a3cc5dae7361838bf2c35c3ec Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 8 Jun 2022 22:22:33 +0900
Subject: [PATCH 1/3] [jsk_pr2_startup/audible_warning] Add ignore time after
 runstop is enabled/disabled to suprress halt error

---
 jsk_pr2_robot/jsk_pr2_startup/pr2.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
index d7ea7e0792..3e216251ba 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
@@ -207,6 +207,8 @@
       run_stop_condition: "m.run_stop is False"
       seconds_to_start_speaking: 60
       speak_interval: 600
+      ignore_time_after_runstop_is_enabled: 5.0
+      ignore_time_after_runstop_is_disabled: 5.0
     </rosparam>
   </node>
 

From edaf50f646dba77cbbc753fde06881de2ecebf32 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 8 Jun 2022 23:24:51 +0900
Subject: [PATCH 2/3] [jsk_pr2_startup/audible_warning] Tweet audible warning
 with image

---
 jsk_pr2_robot/jsk_pr2_startup/pr2.launch | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
index 3e216251ba..9d7a78b02b 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
@@ -212,6 +212,19 @@
     </rosparam>
   </node>
 
+  <group ns="audible_warning" >
+    <!-- tweet with image -->
+    <node name="publish_to_tweet_server"
+          pkg="topic_tools" type="transform"
+          args="/audible_warning/output/original_text
+                /tweet_image_server/tweet/goal
+                rostwitter/TweetActionGoal
+                --wait-for-start
+                'rostwitter.msg.TweetActionGoal(goal=rostwitter.msg.TweetGoal(text=&quot;[Audible warning] &quot; + m.data, image=True, image_topic_name=&quot;/edgetpu_human_pose_estimator/output/image&quot;))'
+                --import rostwitter">
+    </node>
+  </group>
+
   <node name="sanity_diagnostics"
         pkg="jsk_tools" type="sanity_diagnostics.py" >
     <rosparam command="load" file="$(find jsk_pr2_startup)/jsk_pr2_warning/sanity_targets.yaml" />

From bb215ffa785db571ac64566eb8d7d1dcb1cec2af Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 7 Jul 2022 02:14:03 +0900
Subject: [PATCH 3/3] [jsk_pr2_startup/audible_warning] Fixed blacklist format
 at run_stop enabled.

---
 .../jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml
index 2c60dc86bb..4959e68d21 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml
@@ -21,4 +21,4 @@ blacklist:
   - name: "/Realtime Controllers/Calibration stuck"
   - name: "/Computers/CPU/c\\d CPU Temperature"
 run_stop_blacklist:
-  - "/Motors.*"
+  - name: "/Motors.*"