Merge branch 'master' into add_mongo_example

k-okada · Nov 11, 2022 · 27b4185 · 27b4185
2 parents 8b36b97 + 3a34919
commit 27b4185
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Showing 3 changed files with 25 additions and 2 deletions.
diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -6,6 +6,20 @@
 (ros::load-ros-package "fetch_driver_msgs")
 (ros::load-ros-package "robot_controllers_msgs")
 
+(when (null (assoc :delete-object-by-id (send collision-object-publisher :methods)))
+  (ros::ros-warn ";;")
+  (ros::ros-warn ";;")
+  (ros::ros-warn ";; jsk-ros-pkg/jsk_pr2eus <0.3.14 does not have :delete-object-by-id method")
+  (ros::ros-warn ";;   If you need full features of latest fetcheus, please use jsk_pr2eus from source")
+  (ros::ros-warn ";;   See https://github.com/jsk-ros-pkg/jsk_demos/pull/1375#issuecomment-1292943531")
+  (ros::ros-warn ";;")
+  (ros::ros-warn ";;")
+  (defmethod collision-object-publisher
+    (:delete-attached-object-by-id (object-id)
+      (ros::ros-warn ";; did not delete attached object \"~A\"" object-id))
+    (:delete-object-by-id (object-id)
+      (ros::ros-warn ";; did not delete object \"~A\"" object-id))))
+
 (defclass fetch-interface
   :super robot-move-base-interface
   :slots (gripper-action moveit-robot fetch-controller-action)

diff --git a/jsk_naoqi_robot/naoqieus/naoqi-interface.l b/jsk_naoqi_robot/naoqieus/naoqi-interface.l
@@ -270,6 +270,12 @@
      (when master-lang
        (send self :set-language master-lang))
      t))
+  (:speak-jp (str &key wait volume)
+     (send self :speak str :lang "Japanese"
+                :wait wait :volume volume))
+  (:speak-en (str &key wait volume)
+     (send self :speak str :lang "English"
+                :wait wait :volume volume))
   (:check-speak-status
    (&optional (wait 60))
    (let (speech_status tm)

diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/email_topic_client.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/email_topic_client.py
@@ -1,6 +1,6 @@
 import rospy
 from jsk_robot_startup.msg import Email
-
+from jsk_robot_startup.msg import EmailBody
 
 class EmailTopicClient:
 
@@ -20,7 +20,10 @@ def send_mail(self,
         msg = Email()
         msg.header.stamp = rospy.Time.now()
         msg.subject = subject
-        msg.body = body
+        email_body = EmailBody()
+        email_body.type = "text"
+        email_body.message = body
+        msg.body.append(email_body)
         msg.receiver_address = receiver_address
         if sender_address is not None:
             msg.sender_address = sender_address