sound.py

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#! /usr/bin/env python

import roslib
roslib.load_manifest('cob_sound')
import rospy

import os

import actionlib

from std_msgs.msg import String
from cob_sound.msg import *
from cob_sound.srv import *

class SoundAction(object):

        def __init__(self):
                self._as = actionlib.SimpleActionServer("say", SayAction, execute_cb=self.as_cb)
                rospy.Subscriber("/say", String, self.topic_cb)
                rospy.Service('/say', SayText, self.service_cb)
                self._as.start()

        def as_cb(self, goal):
                print "begin"
                self.say(goal.text.data)
                self._as.set_succeeded()
                print "end"
                
        def topic_cb(self,msg):
                self.say(msg.data)

        def service_cb(self,msg):
                self.say(msg.text)
                res = SayTextResponse()
                return res

        def say(self,text):
                rospy.loginfo('Saying: %s' % (text))
                os.system("echo " + text + " | text2wave | aplay -q &")         

if __name__ == '__main__':
        rospy.init_node('cob_sound')
        SoundAction()
        rospy.loginfo("cob_sound is running")
        rospy.spin()

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cob_sound
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 09:37:57 2013