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[pr1040] Tweet audible warning with image #292

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Jul 20, 2022
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Original file line number Diff line number Diff line change
Expand Up @@ -21,4 +21,4 @@ blacklist:
- name: "/Realtime Controllers/Calibration stuck"
- name: "/Computers/CPU/c\\d CPU Temperature"
run_stop_blacklist:
- "/Motors.*"
- name: "/Motors.*"
15 changes: 15 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/pr2.launch
Original file line number Diff line number Diff line change
Expand Up @@ -207,9 +207,24 @@
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>

<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" />
Expand Down