test_sounds.py

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#!/usr/bin/env python

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import roslib; roslib.load_manifest('kobuki_testsuite')
import rospy

from kobuki_msgs.msg import Sound

sounds = [Sound.ON, Sound.OFF, Sound.RECHARGE, Sound.BUTTON, Sound.ERROR, Sound.CLEANINGSTART, Sound.CLEANINGEND]
texts = ["On", "Off", "Recharge", "Button", "Error", "CleaningStart", "CleaningEnd"]

rospy.init_node("test_sounds")
pub = rospy.Publisher('/mobile_base/commands/sound', Sound)
rate = rospy.Rate(0.5)

# Added below two line of code
# to wait until at least one subscriber is present or connected.
# Because rospy.Publisher will skip(or eat) first certain messages, if you publish just after rospy.init()
# Without this patch, first message - Sound.ON will never be published.
# I think this is a bug of rospy
# Younghun Ju
while not pub.get_num_connections():
  rate.sleep()

msg = Sound()
while not rospy.is_shutdown():
    for sound, text in zip(sounds, texts):
        msg.value = sound
        print text 
        pub.publish(msg)
        rate.sleep()
    break