switch on/off room light by google home

jsk-ros-pkg · Sep 17, 2020 · c546923 · c546923
1 parent d92193e
commit c546923
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -124,7 +124,11 @@
     (require :fetch-interface "package://fetcheus/fetch-interface.l")
     (fetch-init))
   (ros::ros-info "start going to the kitchen.")
-  (send *ri* :speak-jp "キッチンに向かいます。")
+  (send *ri* :speak-jp "キッチンに向かいます。" :wait t)
+  (unix::sleep 1)
+  (send *ri* :speak-jp "オッケー、グーグル" :wait t)
+  (send *ri* :speak-jp "電気をつけて" :wait t)
+  (unix::sleep 1)
   ;; stove
   (let ((succcess-go-to-kitchen))
     (dotimes (i n-kitchen-trial)
@@ -174,4 +178,8 @@
   ;;     (return-from go-to-kitchen nil)))
   (ros::ros-info "start going back to the dock.")
   (send *ri* :speak-jp "ドックに戻ります。" :wait t)
-  (auto-dock :n-trial n-dock-trial))
+  (auto-dock :n-trial n-dock-trial)
+  (unix::sleep 1)
+  (send *ri* :speak-jp "オッケー、グーグル" :wait t)
+  (send *ri* :speak-jp "電気を消して" :wait t)
+  (unix::sleep 1))