00001 #!/usr/bin/env python 00002 00003 import rospy 00004 from sound_play.msg import SoundRequest 00005 # topic --> /robotsound or /robotsound_jp 00006 00007 rospy.init_node("finish_launch_sound") 00008 p = rospy.Publisher("/robotsound", SoundRequest) 00009 00010 rospy.sleep(5) # sleep to wait for connection 00011 msg = SoundRequest() 00012 msg.sound = SoundRequest.SAY 00013 msg.command = SoundRequest.PLAY_START 00014 msg.arg = "Now I am ready" 00015 p.publish(msg)