From d62207a4d645d17d1a9f225bdbd8e40b2eff917c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 29 Oct 2018 13:18:53 +0900
Subject: [PATCH 01/52] [jsk_tools] Add speak warnings node

---
 jsk_tools/src/audible_warning.py | 159 +++++++++++++++++++++++++++++++
 1 file changed, 159 insertions(+)
 create mode 100755 jsk_tools/src/audible_warning.py

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
new file mode 100755
index 000000000..d9e951fce
--- /dev/null
+++ b/jsk_tools/src/audible_warning.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+from collections import defaultdict
+import actionlib
+import rospy
+from threading import Event
+from threading import Thread
+from threading import Lock
+from sound_play.msg import SoundRequest
+from sound_play.msg import SoundRequestAction
+from sound_play.msg import SoundRequestGoal
+from diagnostic_msgs.msg import DiagnosticArray
+from diagnostic_msgs.msg import DiagnosticStatus
+
+cached_paths = {}
+cached_result = {}
+
+
+def is_leaf(original_path):
+    if hasattr(cached_result, original_path):
+        return cached_result[original_path]
+
+    path = original_path[1:].split('/')
+
+    def _is_leaf(cached, path):
+        if not isinstance(path, list):
+            raise ValueError
+        if len(path) == 0:
+            raise ValueError
+        if len(path) == 1:
+            if path[0] in cached:
+                return False
+            else:
+                return True
+
+        parent = path[0]
+        child = path[1:]
+        if parent not in cached:
+            cached[parent] = {}
+        return _is_leaf(cached[parent], child)
+
+    result = _is_leaf(cached_paths, path)
+    if result is False:
+        cached_result[original_path] = result
+    return result
+
+
+class SpeakThread(Thread):
+
+    def __init__(self, rate=1.0, wait=True, blacklist=None):
+        super(SpeakThread, self).__init__()
+        self.memo = {}
+        self.event = Event()
+        self.rate = rate
+        self.wait = wait
+        self.lock = Lock()
+        self.stale = []
+        self.error = []
+        self.history = defaultdict(lambda: 10)
+        self.blacklist = blacklist
+
+        self.talk = actionlib.SimpleActionClient(
+            "/robotsound", SoundRequestAction)
+        self.talk.wait_for_server()
+
+        self.language = 'en'
+
+    def stop(self):
+        self.event.set()
+
+    def sort(self, error):
+        ret = {}
+        for s in error:
+            ns = s.name.split()[0]
+            if is_leaf(ns) is False:
+                continue
+            if any(filter(lambda n: n in ns, self.blacklist)):
+                continue
+            ret[ns] = s
+        return ret.values()
+
+    def add(self, stale, error):
+        with self.lock:
+            self.stale = self.sort(stale)
+            self.error = self.sort(error)
+
+    def pop(self):
+        with self.lock:
+            for e in self.stale + self.error:
+                if e.name not in self.history.keys():
+                    self.history[e.name] += 1
+                    return e
+            return None
+
+    def sweep(self):
+        for k in self.history.keys():
+            self.history[k] -= 1
+            if self.history[k] == 0:
+                del self.history[k]
+
+    def run(self):
+        while not self.event.wait(self.rate):
+            e = self.pop()
+            if e:
+                # rospy.loginfo("audible warning talking: %s" % e)
+                sentence = e.name + ' ' + e.message
+                sentence = sentence.replace('/', '   ')
+                sentence = sentence.replace('_', '   ')
+
+                goal = SoundRequestGoal()
+                goal.sound_request.sound = SoundRequest.SAY
+                goal.sound_request.command = SoundRequest.PLAY_ONCE
+                goal.sound_request.arg = sentence
+                goal.sound_request.volume = 1.0
+
+                self.talk.send_goal(goal)
+                if self.wait:
+                    self.talk.wait_for_result(rospy.Duration(10.0))
+            self.sweep()
+
+
+class AudibleWarning(object):
+    def __init__(self):
+        self.history = []
+        self.error = []
+        self.stale = []
+
+        speak_rate = rospy.get_param("~speak_rate", 1.0)
+        speak_wait = rospy.get_param("~speak_wait", True)
+        blacklist = rospy.get_param("~blacklist", [])
+        self.speak_thread = SpeakThread(speak_rate, speak_wait, blacklist)
+
+        # run-stop
+        self.run_stop = False
+
+        # diag
+        self.sub_diag = rospy.Subscriber("/diagnostics_agg", DiagnosticArray,
+                                         self.diag_cb, queue_size=1)
+        self.speak_thread.start()
+
+    def on_shutdown(self):
+        self.speak_thread.stop()
+        self.speak_thread.join()
+
+    def diag_cb(self, msg):
+        if self.run_stop:
+            return
+
+        error = filter(lambda s: s.level == DiagnosticStatus.ERROR, msg.status)
+        stale = filter(lambda s: s.level == DiagnosticStatus.STALE, msg.status)
+        self.speak_thread.add(stale, error)
+
+
+if __name__ == '__main__':
+    rospy.init_node("audible_warning")
+    aw = AudibleWarning()  # NOQA
+    rospy.on_shutdown(aw.on_shutdown)
+    rospy.spin()

From 83644d4343881fef9ae6f989acbc0edb87d7686a Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 12 May 2022 22:42:54 +0900
Subject: [PATCH 02/52] Add warn_stale option

---
 jsk_tools/src/audible_warning.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index d9e951fce..3c2406e80 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -128,6 +128,7 @@ def __init__(self):
 
         speak_rate = rospy.get_param("~speak_rate", 1.0)
         speak_wait = rospy.get_param("~speak_wait", True)
+        self.warn_stale = rospy.get_param('~warn_stale', False)
         blacklist = rospy.get_param("~blacklist", [])
         self.speak_thread = SpeakThread(speak_rate, speak_wait, blacklist)
 
@@ -148,7 +149,11 @@ def diag_cb(self, msg):
             return
 
         error = filter(lambda s: s.level == DiagnosticStatus.ERROR, msg.status)
-        stale = filter(lambda s: s.level == DiagnosticStatus.STALE, msg.status)
+        if self.warn_stale:
+            stale = filter(lambda s: s.level == DiagnosticStatus.STALE,
+                           msg.status)
+        else:
+            stale = []
         self.speak_thread.add(stale, error)
 
 

From 37505772fb604872a321db9d19efbb34cd825f55 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sun, 15 May 2022 16:16:23 +0900
Subject: [PATCH 03/52] Add is_leaf and filter function to jsk_tools'library

---
 jsk_tools/src/audible_warning.py             | 33 +----------
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 58 ++++++++++++++++++++
 2 files changed, 60 insertions(+), 31 deletions(-)
 create mode 100644 jsk_tools/src/jsk_tools/diagnostics_utils.py

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 3c2406e80..d8ae4f516 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -13,37 +13,8 @@
 from diagnostic_msgs.msg import DiagnosticArray
 from diagnostic_msgs.msg import DiagnosticStatus
 
-cached_paths = {}
-cached_result = {}
-
-
-def is_leaf(original_path):
-    if hasattr(cached_result, original_path):
-        return cached_result[original_path]
-
-    path = original_path[1:].split('/')
-
-    def _is_leaf(cached, path):
-        if not isinstance(path, list):
-            raise ValueError
-        if len(path) == 0:
-            raise ValueError
-        if len(path) == 1:
-            if path[0] in cached:
-                return False
-            else:
-                return True
-
-        parent = path[0]
-        child = path[1:]
-        if parent not in cached:
-            cached[parent] = {}
-        return _is_leaf(cached[parent], child)
-
-    result = _is_leaf(cached_paths, path)
-    if result is False:
-        cached_result[original_path] = result
-    return result
+from jsk_tools.diagnostics_utils import is_leaf
+from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 
 
 class SpeakThread(Thread):
diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
new file mode 100644
index 000000000..887f9e5f2
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -0,0 +1,58 @@
+cached_paths = {}
+cached_result = {}
+
+
+def is_leaf(original_path):
+    if hasattr(cached_result, original_path):
+        return cached_result[original_path]
+
+    path = original_path[1:].split('/')
+
+    def _is_leaf(cached, path):
+        if not isinstance(path, list):
+            raise ValueError
+        if len(path) == 0:
+            raise ValueError
+        if len(path) == 1:
+            if path[0] in cached:
+                return False
+            else:
+                return True
+
+        parent = path[0]
+        child = path[1:]
+        if parent not in cached:
+            cached[parent] = {}
+        return _is_leaf(cached[parent], child)
+
+    result = _is_leaf(cached_paths, path)
+    if result is False:
+        cached_result[original_path] = result
+    return result
+
+
+def filter_diagnostics_status_list(status_list, blacklist):
+    """Filter list of DiagnosticStatus.
+
+    Parameters
+    ----------
+    status_list : diagnostic_msgs.msg._DiagnosticStatus.DiagnosticStatus
+        List of DiagnosticStatus.
+    black_list : List[str]
+        List of blacklist.
+        The path of the name contained in this list is ignored.
+
+    Returns
+    -------
+    ret.values() : Dict[str, DiagnosticStatus]
+        Key is namespace and value is status.
+    """
+    ret = {}
+    for s in status_list:
+        ns = s.name.split()[0]
+        if is_leaf(ns) is False:
+            continue
+        if any(filter(lambda n: n in ns, blacklist)):
+            continue
+        ret[ns] = s
+    return ret.values()

From 2ff889ac823f72642dab2d08599c862d548937d4 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sun, 15 May 2022 16:17:11 +0900
Subject: [PATCH 04/52] Refactor audible_warning

---
 jsk_tools/src/audible_warning.py | 54 +++++++++++++-------------------
 1 file changed, 22 insertions(+), 32 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index d8ae4f516..94470ad57 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -2,70 +2,59 @@
 # -*- coding: utf-8 -*-
 
 from collections import defaultdict
-import actionlib
-import rospy
 from threading import Event
-from threading import Thread
 from threading import Lock
+from threading import Thread
+
+import actionlib
+from diagnostic_msgs.msg import DiagnosticArray
+from diagnostic_msgs.msg import DiagnosticStatus
+import rospy
 from sound_play.msg import SoundRequest
 from sound_play.msg import SoundRequestAction
 from sound_play.msg import SoundRequestGoal
-from diagnostic_msgs.msg import DiagnosticArray
-from diagnostic_msgs.msg import DiagnosticStatus
 
-from jsk_tools.diagnostics_utils import is_leaf
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 
 
 class SpeakThread(Thread):
 
-    def __init__(self, rate=1.0, wait=True, blacklist=None):
+    def __init__(self, rate=1.0, wait=True, blacklist=None,
+                 language='en', wait_speak_duration_time=10):
         super(SpeakThread, self).__init__()
-        self.memo = {}
+        self.wait_speak_duration_time = wait_speak_duration_time
         self.event = Event()
         self.rate = rate
         self.wait = wait
         self.lock = Lock()
-        self.stale = []
-        self.error = []
+        self.status_list = []
         self.history = defaultdict(lambda: 10)
         self.blacklist = blacklist
+        self.language = language
 
         self.talk = actionlib.SimpleActionClient(
             "/robotsound", SoundRequestAction)
         self.talk.wait_for_server()
 
-        self.language = 'en'
-
     def stop(self):
         self.event.set()
 
-    def sort(self, error):
-        ret = {}
-        for s in error:
-            ns = s.name.split()[0]
-            if is_leaf(ns) is False:
-                continue
-            if any(filter(lambda n: n in ns, self.blacklist)):
-                continue
-            ret[ns] = s
-        return ret.values()
-
-    def add(self, stale, error):
+    def add(self, status_list):
         with self.lock:
-            self.stale = self.sort(stale)
-            self.error = self.sort(error)
+            self.status_list = filter_diagnostics_status_list(
+                status_list,
+                self.blacklist)
 
     def pop(self):
         with self.lock:
-            for e in self.stale + self.error:
-                if e.name not in self.history.keys():
-                    self.history[e.name] += 1
-                    return e
+            for status in self.status_list:
+                if status.name not in self.history.keys():
+                    self.history[status.name] += 1
+                    return status
             return None
 
     def sweep(self):
-        for k in self.history.keys():
+        for k in list(self.history.keys()):
             self.history[k] -= 1
             if self.history[k] == 0:
                 del self.history[k]
@@ -87,7 +76,8 @@ def run(self):
 
                 self.talk.send_goal(goal)
                 if self.wait:
-                    self.talk.wait_for_result(rospy.Duration(10.0))
+                    self.talk.wait_for_result(
+                        rospy.Duration(self.wait_speak_duration_time))
             self.sweep()
 
 

From dd7ddf6a729448292109611b89a38633f77bea27 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sun, 15 May 2022 16:24:08 +0900
Subject: [PATCH 05/52] Add prefix to speaking

---
 jsk_tools/src/audible_warning.py | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 94470ad57..ee41dde05 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -63,10 +63,18 @@ def run(self):
         while not self.event.wait(self.rate):
             e = self.pop()
             if e:
-                # rospy.loginfo("audible warning talking: %s" % e)
-                sentence = e.name + ' ' + e.message
-                sentence = sentence.replace('/', '   ')
-                sentence = sentence.replace('_', '   ')
+                if e.level == DiagnosticStatus.WARN:
+                    prefix = 'warning.'
+                elif e.level == DiagnosticStatus.ERROR:
+                    prefix = 'error.'
+                elif e.level == DiagnosticStatus.STALE:
+                    prefix = 'stale.'
+                else:
+                    prefix = 'ok.'
+                sentence = prefix + e.name + ' ' + e.message
+                sentence = sentence.replace('/', ' ')
+                sentence = sentence.replace('_', ' ')
+                rospy.loginfo("audible warning talking: %s" % sentence)
 
                 goal = SoundRequestGoal()
                 goal.sound_request.sound = SoundRequest.SAY

From e1896776bfd774f2f5f696d055a930ffb0f4331f Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sun, 15 May 2022 16:24:30 +0900
Subject: [PATCH 06/52] Refactor AudibleWarning node

---
 jsk_tools/src/audible_warning.py | 37 +++++++++++++++++---------------
 1 file changed, 20 insertions(+), 17 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index ee41dde05..61ed23881 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -90,23 +90,31 @@ def run(self):
 
 
 class AudibleWarning(object):
-    def __init__(self):
-        self.history = []
-        self.error = []
-        self.stale = []
 
+    def __init__(self):
         speak_rate = rospy.get_param("~speak_rate", 1.0)
-        speak_wait = rospy.get_param("~speak_wait", True)
-        self.warn_stale = rospy.get_param('~warn_stale', False)
+        wait_speak = rospy.get_param("~wait_speak", True)
+        language = rospy.get_param('~language', 'en')
+
+        self.diagnostics_list = []
+        if rospy.get_param("~speak_warn", True):
+            self.diagnostics_list.append(DiagnosticStatus.WARN)
+        if rospy.get_param("~speak_error", True):
+            self.diagnostics_list.append(DiagnosticStatus.ERROR)
+        if rospy.get_param("~speak_stale", True):
+            self.diagnostics_list.append(DiagnosticStatus.STALE)
+
         blacklist = rospy.get_param("~blacklist", [])
-        self.speak_thread = SpeakThread(speak_rate, speak_wait, blacklist)
+        self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
+                                        language)
 
         # run-stop
         self.run_stop = False
 
         # diag
-        self.sub_diag = rospy.Subscriber("/diagnostics_agg", DiagnosticArray,
-                                         self.diag_cb, queue_size=1)
+        self.sub_diag = rospy.Subscriber(
+            "/diagnostics_agg", DiagnosticArray,
+            self.diag_cb, queue_size=1)
         self.speak_thread.start()
 
     def on_shutdown(self):
@@ -116,14 +124,9 @@ def on_shutdown(self):
     def diag_cb(self, msg):
         if self.run_stop:
             return
-
-        error = filter(lambda s: s.level == DiagnosticStatus.ERROR, msg.status)
-        if self.warn_stale:
-            stale = filter(lambda s: s.level == DiagnosticStatus.STALE,
-                           msg.status)
-        else:
-            stale = []
-        self.speak_thread.add(stale, error)
+        target_status_list = filter(lambda n: n.level in self.diagnostics_list,
+                                    msg.status)
+        self.speak_thread.add(target_status_list)
 
 
 if __name__ == '__main__':

From e93e36355ef9d1d5233b8ba831a240259467f1f6 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:18:40 +0900
Subject: [PATCH 07/52] [jsk_tools/audible_warning] Use priority queue instead
 of history

---
 jsk_tools/src/audible_warning.py | 45 +++++++++++++++++++-------------
 1 file changed, 27 insertions(+), 18 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 61ed23881..de07f7b60 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -2,6 +2,7 @@
 # -*- coding: utf-8 -*-
 
 from collections import defaultdict
+import heapq
 from threading import Event
 from threading import Lock
 from threading import Thread
@@ -20,15 +21,21 @@
 class SpeakThread(Thread):
 
     def __init__(self, rate=1.0, wait=True, blacklist=None,
-                 language='en', wait_speak_duration_time=10):
+                 language='en',
+                 volume=1.0,
+                 speak_interval=0,
+                 wait_speak_duration_time=10):
         super(SpeakThread, self).__init__()
         self.wait_speak_duration_time = wait_speak_duration_time
         self.event = Event()
         self.rate = rate
         self.wait = wait
+        self.volume = volume
         self.lock = Lock()
         self.status_list = []
-        self.history = defaultdict(lambda: 10)
+        self.speak_interval = speak_interval
+        tm = rospy.Time.now().to_sec() - speak_interval
+        self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
         self.blacklist = blacklist
         self.language = language
 
@@ -41,24 +48,24 @@ def stop(self):
 
     def add(self, status_list):
         with self.lock:
-            self.status_list = filter_diagnostics_status_list(
-                status_list,
-                self.blacklist)
+            status_list = filter_diagnostics_status_list(
+                status_list, self.blacklist)
+            for status in status_list:
+                heapq.heappush(
+                    self.status_list,
+                    (rospy.Time.now().to_sec(), status))
 
     def pop(self):
         with self.lock:
-            for status in self.status_list:
-                if status.name not in self.history.keys():
-                    self.history[status.name] += 1
-                    return status
+            while len(self.status_list) > 0:
+                _, status = heapq.heappop(self.status_list)
+                if rospy.Time.now().to_sec() \
+                        - self.previous_spoken_time[status.name] \
+                        < self.speak_interval:
+                    continue
+                return status
             return None
 
-    def sweep(self):
-        for k in list(self.history.keys()):
-            self.history[k] -= 1
-            if self.history[k] == 0:
-                del self.history[k]
-
     def run(self):
         while not self.event.wait(self.rate):
             e = self.pop()
@@ -80,20 +87,22 @@ def run(self):
                 goal.sound_request.sound = SoundRequest.SAY
                 goal.sound_request.command = SoundRequest.PLAY_ONCE
                 goal.sound_request.arg = sentence
-                goal.sound_request.volume = 1.0
+                goal.sound_request.volume = self.volume
 
+                self.previous_spoken_time[e.name] = rospy.Time.now().to_sec()
                 self.talk.send_goal(goal)
                 if self.wait:
                     self.talk.wait_for_result(
                         rospy.Duration(self.wait_speak_duration_time))
-            self.sweep()
 
 
 class AudibleWarning(object):
 
     def __init__(self):
         speak_rate = rospy.get_param("~speak_rate", 1.0)
+        speak_interval = rospy.get_param("~speak_interval", 120.0)
         wait_speak = rospy.get_param("~wait_speak", True)
+        volume = rospy.get_param("~volume", 1.0)
         language = rospy.get_param('~language', 'en')
 
         self.diagnostics_list = []
@@ -106,7 +115,7 @@ def __init__(self):
 
         blacklist = rospy.get_param("~blacklist", [])
         self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
-                                        language)
+                                        language, volume, speak_interval)
 
         # run-stop
         self.run_stop = False

From 3e45382f4e30cee31d25aa1a3cd39ecd1b18f970 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:19:34 +0900
Subject: [PATCH 08/52] [jsk_tools/audible_warning] Enable run_stop to suppress
 audible warning

---
 jsk_tools/src/audible_warning.py | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index de07f7b60..f3d3096a7 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -3,6 +3,7 @@
 
 from collections import defaultdict
 import heapq
+from importlib import import_module
 from threading import Event
 from threading import Lock
 from threading import Thread
@@ -18,6 +19,12 @@
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 
 
+def expr_eval(expr):
+    def eval_fn(topic, m, t):
+        return eval(expr)
+    return eval_fn
+
+
 class SpeakThread(Thread):
 
     def __init__(self, rate=1.0, wait=True, blacklist=None,
@@ -119,6 +126,16 @@ def __init__(self):
 
         # run-stop
         self.run_stop = False
+        self.run_stop_topic = rospy.get_param('~run_stop_topic', None)
+        if self.run_stop_topic:
+            run_stop_condition = rospy.get_param(
+                '~run_stop_condition', 'm.data == True')
+            self.run_stop_condition = expr_eval(run_stop_condition)
+            self.run_stop_sub = rospy.Subscriber(
+                self.run_stop_topic,
+                rospy.AnyMsg,
+                callback=self.run_stop_callback,
+                queue_size=1)
 
         # diag
         self.sub_diag = rospy.Subscriber(
@@ -126,12 +143,26 @@ def __init__(self):
             self.diag_cb, queue_size=1)
         self.speak_thread.start()
 
+    def run_stop_callback(self, msg):
+        if isinstance(msg, rospy.msg.AnyMsg):
+            package, msg_type = msg._connection_header['type'].split('/')
+            ros_pkg = package + '.msg'
+            msg_class = getattr(import_module(ros_pkg), msg_type)
+            self.run_stop_sub.unregister()
+            deserialized_sub = rospy.Subscriber(
+                self.run_stop_topic, msg_class, self.run_stop_callback)
+            self.run_stop_sub = deserialized_sub
+            return
+        self.run_stop = self.run_stop_condition(
+            self.run_stop_topic, msg, rospy.Time.now())
+
     def on_shutdown(self):
         self.speak_thread.stop()
         self.speak_thread.join()
 
     def diag_cb(self, msg):
         if self.run_stop:
+            rospy.logdebug('RUN STOP is pressed. Do not speak warning.')
             return
         target_status_list = filter(lambda n: n.level in self.diagnostics_list,
                                     msg.status)

From 91ecd310f2aaba987ad14aa46b8ab468467b267e Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:30:33 +0900
Subject: [PATCH 09/52] [jsk_tools/audible_warning] Add
 seconds_to_start_speaking option for initialization

---
 jsk_tools/src/audible_warning.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index f3d3096a7..7a0cc2a83 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -31,6 +31,7 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
                  language='en',
                  volume=1.0,
                  speak_interval=0,
+                 seconds_to_start_speaking=0,
                  wait_speak_duration_time=10):
         super(SpeakThread, self).__init__()
         self.wait_speak_duration_time = wait_speak_duration_time
@@ -41,7 +42,9 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
         self.lock = Lock()
         self.status_list = []
         self.speak_interval = speak_interval
-        tm = rospy.Time.now().to_sec() - speak_interval
+        tm = rospy.Time.now().to_sec() \
+            - speak_interval \
+            + seconds_to_start_speaking
         self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
         self.blacklist = blacklist
         self.language = language
@@ -111,6 +114,8 @@ def __init__(self):
         wait_speak = rospy.get_param("~wait_speak", True)
         volume = rospy.get_param("~volume", 1.0)
         language = rospy.get_param('~language', 'en')
+        seconds_to_start_speaking = rospy.get_param(
+            '~seconds_to_start_speaking', 0)
 
         self.diagnostics_list = []
         if rospy.get_param("~speak_warn", True):
@@ -122,7 +127,8 @@ def __init__(self):
 
         blacklist = rospy.get_param("~blacklist", [])
         self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
-                                        language, volume, speak_interval)
+                                        language, volume, speak_interval,
+                                        seconds_to_start_speaking)
 
         # run-stop
         self.run_stop = False

From 2eb51a226dc56a5641ee69c1389196a7bb39d282 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:30:46 +0900
Subject: [PATCH 10/52] [jsk_tools/audible_warning] Enable language
 specification

---
 jsk_tools/src/audible_warning.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 7a0cc2a83..05db4aeff 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -97,6 +97,7 @@ def run(self):
                 goal.sound_request.sound = SoundRequest.SAY
                 goal.sound_request.command = SoundRequest.PLAY_ONCE
                 goal.sound_request.arg = sentence
+                goal.sound_request.language = self.language
                 goal.sound_request.volume = self.volume
 
                 self.previous_spoken_time[e.name] = rospy.Time.now().to_sec()

From aab38ff6f4f10e84669750f09cade9d08ecdc78f Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:31:00 +0900
Subject: [PATCH 11/52] [jsk_tools/audible_warning] Fixed namespace of
 diagnostics

---
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index 887f9e5f2..5504a3d33 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -49,7 +49,7 @@ def filter_diagnostics_status_list(status_list, blacklist):
     """
     ret = {}
     for s in status_list:
-        ns = s.name.split()[0]
+        ns = s.name
         if is_leaf(ns) is False:
             continue
         if any(filter(lambda n: n in ns, blacklist)):

From 003b586c65edb6f677b7056c8176768edc2dba9e Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:34:10 +0900
Subject: [PATCH 12/52] [jsk_tools/audible_warning] Fixed typo language to arg2
 and set default value to ""

---
 jsk_tools/src/audible_warning.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 05db4aeff..6f9cb5aae 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -28,7 +28,7 @@ def eval_fn(topic, m, t):
 class SpeakThread(Thread):
 
     def __init__(self, rate=1.0, wait=True, blacklist=None,
-                 language='en',
+                 language='',
                  volume=1.0,
                  speak_interval=0,
                  seconds_to_start_speaking=0,
@@ -97,7 +97,7 @@ def run(self):
                 goal.sound_request.sound = SoundRequest.SAY
                 goal.sound_request.command = SoundRequest.PLAY_ONCE
                 goal.sound_request.arg = sentence
-                goal.sound_request.language = self.language
+                goal.sound_request.arg2 = self.language
                 goal.sound_request.volume = self.volume
 
                 self.previous_spoken_time[e.name] = rospy.Time.now().to_sec()
@@ -114,7 +114,7 @@ def __init__(self):
         speak_interval = rospy.get_param("~speak_interval", 120.0)
         wait_speak = rospy.get_param("~wait_speak", True)
         volume = rospy.get_param("~volume", 1.0)
-        language = rospy.get_param('~language', 'en')
+        language = rospy.get_param('~language', '')
         seconds_to_start_speaking = rospy.get_param(
             '~seconds_to_start_speaking', 0)
 

From 03e2c6a1c6926f12ba4a1194208963701e06d7cf Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 14:21:04 +0900
Subject: [PATCH 13/52] [jsk_tools/audible_warning] Wait until
 seconds_to_start_speaking the time has passed.

---
 jsk_tools/src/audible_warning.py | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 6f9cb5aae..1d5c0ec6e 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -31,7 +31,6 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
                  language='',
                  volume=1.0,
                  speak_interval=0,
-                 seconds_to_start_speaking=0,
                  wait_speak_duration_time=10):
         super(SpeakThread, self).__init__()
         self.wait_speak_duration_time = wait_speak_duration_time
@@ -43,8 +42,7 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
         self.status_list = []
         self.speak_interval = speak_interval
         tm = rospy.Time.now().to_sec() \
-            - speak_interval \
-            + seconds_to_start_speaking
+            - speak_interval
         self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
         self.blacklist = blacklist
         self.language = language
@@ -118,6 +116,14 @@ def __init__(self):
         seconds_to_start_speaking = rospy.get_param(
             '~seconds_to_start_speaking', 0)
 
+        # Wait until seconds_to_start_speaking the time has passed.
+        rate = rospy.Rate(10)
+        start_time = rospy.Time.now()
+        while not rospy.is_shutdown() \
+                and (rospy.Time.now() - start_time).to_sec() \
+                < seconds_to_start_speaking:
+            rate.sleep()
+
         self.diagnostics_list = []
         if rospy.get_param("~speak_warn", True):
             self.diagnostics_list.append(DiagnosticStatus.WARN)

From 2fe97c2b50d56ea713c27ee80f60949637af2e9c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 14:30:07 +0900
Subject: [PATCH 14/52] [jsk_tools/audible_warning] Output error name

---
 jsk_tools/src/audible_warning.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 1d5c0ec6e..b20bf6724 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -89,6 +89,7 @@ def run(self):
                 sentence = prefix + e.name + ' ' + e.message
                 sentence = sentence.replace('/', ' ')
                 sentence = sentence.replace('_', ' ')
+                rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
 
                 goal = SoundRequestGoal()

From d65bacc1d90b3a399b1ce3546d94ce6a78202cce Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 14:44:03 +0900
Subject: [PATCH 15/52] [jsk_tools/audible_warning] Check status is leaf node

---
 jsk_tools/src/audible_warning.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index b20bf6724..a51e6d483 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -17,6 +17,7 @@
 from sound_play.msg import SoundRequestGoal
 
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
+from jsk_tools.diagnostics_utils import is_leaf
 
 
 def expr_eval(expr):
@@ -67,6 +68,8 @@ def pop(self):
         with self.lock:
             while len(self.status_list) > 0:
                 _, status = heapq.heappop(self.status_list)
+                if is_leaf(status.name) is False:
+                    continue
                 if rospy.Time.now().to_sec() \
                         - self.previous_spoken_time[status.name] \
                         < self.speak_interval:

From 793179be0f44b0f9add8b12a0605b8d3ad08576b Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 15:09:13 +0900
Subject: [PATCH 16/52] [jsk_tools/audible_warning] Enable regex for blacklist

---
 jsk_tools/src/audible_warning.py             | 2 ++
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 5 ++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index a51e6d483..d374d4230 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -4,6 +4,7 @@
 from collections import defaultdict
 import heapq
 from importlib import import_module
+import re
 from threading import Event
 from threading import Lock
 from threading import Thread
@@ -137,6 +138,7 @@ def __init__(self):
             self.diagnostics_list.append(DiagnosticStatus.STALE)
 
         blacklist = rospy.get_param("~blacklist", [])
+        blacklist = list(map(re.compile, blacklist))
         self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
                                         language, volume, speak_interval,
                                         seconds_to_start_speaking)
diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index 5504a3d33..c561a76ea 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -1,3 +1,6 @@
+import re
+
+
 cached_paths = {}
 cached_result = {}
 
@@ -52,7 +55,7 @@ def filter_diagnostics_status_list(status_list, blacklist):
         ns = s.name
         if is_leaf(ns) is False:
             continue
-        if any(filter(lambda n: n in ns, blacklist)):
+        if any(filter(lambda n: re.match(n, ns), blacklist)):
             continue
         ret[ns] = s
     return ret.values()

From e9550ac87a7dfed9615954091f9d952c6dc88f2f Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 15:33:42 +0900
Subject: [PATCH 17/52] [jsk_tools/audible_warning] Add run_stop blacklist

---
 jsk_tools/src/audible_warning.py | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index d374d4230..6c8dc5817 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -144,15 +144,21 @@ def __init__(self):
                                         seconds_to_start_speaking)
 
         # run-stop
+        self.speak_when_runstopped = rospy.get_param(
+            '~speak_when_runstopped', True)
         self.run_stop = False
         self.run_stop_topic = rospy.get_param('~run_stop_topic', None)
         if self.run_stop_topic:
             run_stop_condition = rospy.get_param(
                 '~run_stop_condition', 'm.data == True')
+            run_stop_blacklist = rospy.get_param(
+                '~run_stop_blacklist', [])
+            self.run_stop_blacklist = list(map(re.compile, run_stop_blacklist))
             self.run_stop_condition = expr_eval(run_stop_condition)
             self.run_stop_sub = rospy.Subscriber(
                 self.run_stop_topic,
                 rospy.AnyMsg,
+
                 callback=self.run_stop_callback,
                 queue_size=1)
 
@@ -181,8 +187,17 @@ def on_shutdown(self):
 
     def diag_cb(self, msg):
         if self.run_stop:
-            rospy.logdebug('RUN STOP is pressed. Do not speak warning.')
-            return
+            if self.speak_when_runstopped is False:
+                rospy.logdebug('RUN STOP is pressed. Do not speak warning.')
+                return
+
+            filtered_status = []
+            for status in msg.status:
+                for bn in self.run_stop_blacklist:
+                    if re.match(status.name, bn):
+                        filtered_status.append(status)
+                        break
+            msg.status = filtered_status
         target_status_list = filter(lambda n: n.level in self.diagnostics_list,
                                     msg.status)
         self.speak_thread.add(target_status_list)

From 917f8531baec305f46a78949d17f28d2885a1ce0 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 17:13:28 +0900
Subject: [PATCH 18/52] [jsk_tools/audible_warning] Enable blacklist message
 option

---
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 31 ++++++++++++++------
 1 file changed, 22 insertions(+), 9 deletions(-)

diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index c561a76ea..42b8142aa 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -1,3 +1,4 @@
+import itertools
 import re
 
 
@@ -34,28 +35,40 @@ def _is_leaf(cached, path):
     return result
 
 
-def filter_diagnostics_status_list(status_list, blacklist):
+def filter_diagnostics_status_list(status_list, blacklist,
+                                   blacklist_messages=None):
     """Filter list of DiagnosticStatus.
 
     Parameters
     ----------
-    status_list : diagnostic_msgs.msg._DiagnosticStatus.DiagnosticStatus
+    status_list : List[DiagnosticStatus]
         List of DiagnosticStatus.
-    black_list : List[str]
+    blacklist : List[str] or List[re.Pattern]
         List of blacklist.
         The path of the name contained in this list is ignored.
+    blacklist_messages : List[str] or List[re.Pattern]
+        List of blacklist for message.
+        This has a one-to-one correspondence with blacklist.
 
     Returns
     -------
-    ret.values() : Dict[str, DiagnosticStatus]
-        Key is namespace and value is status.
+    filtered_status : List[DiagnosticStatus]
+        List of filtered diagnostics status.
     """
-    ret = {}
+    blacklist_messages = blacklist_messages or []
+    filtered_status = []
     for s in status_list:
         ns = s.name
         if is_leaf(ns) is False:
             continue
-        if any(filter(lambda n: re.match(n, ns), blacklist)):
+        matched = False
+        for bn, message in itertools.zip_longest(
+                blacklist, blacklist_messages):
+            if re.match(bn, ns):
+                if message is None or re.match(message, s.message):
+                    matched = True
+                    break
+        if matched is True:
             continue
-        ret[ns] = s
-    return ret.values()
+        filtered_status.append(s)
+    return filtered_status

From 3f9d7abb6f654445d80f40f298c65d9c03058a57 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 17:13:56 +0900
Subject: [PATCH 19/52] [jsk_tools/audible_warning] Add blacklist messsage
 option

---
 jsk_tools/src/audible_warning.py | 54 ++++++++++++++++++++++----------
 1 file changed, 38 insertions(+), 16 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 6c8dc5817..f0b49171f 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -29,7 +29,7 @@ def eval_fn(topic, m, t):
 
 class SpeakThread(Thread):
 
-    def __init__(self, rate=1.0, wait=True, blacklist=None,
+    def __init__(self, rate=1.0, wait=True,
                  language='',
                  volume=1.0,
                  speak_interval=0,
@@ -46,7 +46,6 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
         tm = rospy.Time.now().to_sec() \
             - speak_interval
         self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
-        self.blacklist = blacklist
         self.language = language
 
         self.talk = actionlib.SimpleActionClient(
@@ -58,8 +57,6 @@ def stop(self):
 
     def add(self, status_list):
         with self.lock:
-            status_list = filter_diagnostics_status_list(
-                status_list, self.blacklist)
             for status in status_list:
                 heapq.heappush(
                     self.status_list,
@@ -138,8 +135,20 @@ def __init__(self):
             self.diagnostics_list.append(DiagnosticStatus.STALE)
 
         blacklist = rospy.get_param("~blacklist", [])
-        blacklist = list(map(re.compile, blacklist))
-        self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
+        self.blacklist_names = []
+        self.blacklist_messages = []
+        for bl in blacklist:
+            if 'name' not in bl:
+                name = re.compile(r'.')
+            else:
+                name = re.compile(bl['name'])
+            self.blacklist_names.append(name)
+            if 'message' not in bl:
+                message = re.compile(r'.')
+            else:
+                message = re.compile(bl['message'])
+            self.blacklist_messages.append(message)
+        self.speak_thread = SpeakThread(speak_rate, wait_speak,
                                         language, volume, speak_interval,
                                         seconds_to_start_speaking)
 
@@ -153,7 +162,19 @@ def __init__(self):
                 '~run_stop_condition', 'm.data == True')
             run_stop_blacklist = rospy.get_param(
                 '~run_stop_blacklist', [])
-            self.run_stop_blacklist = list(map(re.compile, run_stop_blacklist))
+            self.run_stop_blacklist_names = []
+            self.run_stop_blacklist_messages = []
+            for bl in run_stop_blacklist:
+                if 'name' not in bl:
+                    name = re.compile(r'.')
+                else:
+                    name = re.compile(bl['name'])
+                self.run_stop_blacklist_names.append(name)
+                if 'message' not in bl:
+                    message = re.compile(r'.')
+                else:
+                    message = re.compile(bl['message'])
+                self.run_stop_blacklist_messages.append(message)
             self.run_stop_condition = expr_eval(run_stop_condition)
             self.run_stop_sub = rospy.Subscriber(
                 self.run_stop_topic,
@@ -186,20 +207,21 @@ def on_shutdown(self):
         self.speak_thread.join()
 
     def diag_cb(self, msg):
+        target_status_list = filter(
+            lambda n: n.level in self.diagnostics_list,
+            msg.status)
         if self.run_stop:
             if self.speak_when_runstopped is False:
                 rospy.logdebug('RUN STOP is pressed. Do not speak warning.')
                 return
 
-            filtered_status = []
-            for status in msg.status:
-                for bn in self.run_stop_blacklist:
-                    if re.match(status.name, bn):
-                        filtered_status.append(status)
-                        break
-            msg.status = filtered_status
-        target_status_list = filter(lambda n: n.level in self.diagnostics_list,
-                                    msg.status)
+            target_status_list = filter_diagnostics_status_list(
+                target_status_list,
+                self.run_stop_blacklist_names,
+                self.run_stop_blacklist_messages)
+
+        target_status_list = filter_diagnostics_status_list(
+            target_status_list, self.blacklist_names, self.blacklist_messages)
         self.speak_thread.add(target_status_list)
 
 

From 1f1e299ee627ac3672c6a3b675dd8c6030c9fa28 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 18:19:39 +0900
Subject: [PATCH 20/52] [jsk_tools/audible_warning] Add sample

---
 doc/jsk_tools/scripts/audible_warning.md      | 136 ++++++++++++++++++
 .../scripts/images/audible_warning.jpg        | Bin 0 -> 92036 bytes
 jsk_tools/sample/pseudo_diagnostics.py        |  56 ++++++++
 .../sample/sample_audible_warning.launch      |  39 +++++
 4 files changed, 231 insertions(+)
 create mode 100644 doc/jsk_tools/scripts/audible_warning.md
 create mode 100644 doc/jsk_tools/scripts/images/audible_warning.jpg
 create mode 100755 jsk_tools/sample/pseudo_diagnostics.py
 create mode 100644 jsk_tools/sample/sample_audible_warning.launch

diff --git a/doc/jsk_tools/scripts/audible_warning.md b/doc/jsk_tools/scripts/audible_warning.md
new file mode 100644
index 000000000..61aadee5c
--- /dev/null
+++ b/doc/jsk_tools/scripts/audible_warning.md
@@ -0,0 +1,136 @@
+audible\_warning.py
+=======================
+
+## What is this
+
+This is a general node that subscribes to `/diagnostics_agg` to speak the error content.
+Robots using diagnostics can use this node.
+
+## Target Action
+
+* `/robotsound` (`sound_play/SoundRequestAction`)
+
+    Target action name.
+
+    If it is a different server name, please remap it like `<remap from="/robotsound" to="/sound_play" />`.
+
+## Subscribing Topics
+
+* `/diagnostics_agg` (`diagnostic_msgs/DiagnosticArray`)
+
+    Aggregated diagnostics.
+
+
+## Parameter
+
+* `~speak_rate` (`Float`, default: `1.0`)
+
+    Rate of speak loop.
+
+* `~speak_interval` (`Float`, default: `120.0`)
+
+    The same error will not be spoken until this number of seconds has passed.
+
+* `~volume` (`Float`, default: `1.0`)
+
+    Volume of speaking.
+
+* `~language` (`String`, default: `""`)
+
+    Language parameters for `arg2` in `sound_play/SoundRequestAction`.
+
+* `~wait_speak` (`Bool`, default: `True`)
+
+    If `True`, wait until finish saying one error.
+
+* `~seconds_to_start_speaking` (`Float`, default: `0.0`)
+
+    It is the time to wait for the node to speak after it has started.
+
+    This is useful for ignoring errors that occur when the robot starts.
+
+* `~speak_warn` (`Bool`, default: `True`)
+
+    If `True`, speak warning level diagnostics.
+
+* `~speak_error` (`Bool`, default: `True`)
+
+    If `True`, speak error level diagnostics.
+
+* `~speak_stale` (`Bool`, default: `True`)
+
+    If `True`, speak stale level diagnostics.
+
+* `~speak_when_runstopped` (`Bool`, default: `True`)
+
+    If `True`, speak an error even if runstop is `True`.
+
+* `~run_stop_topic` (`String`, default: `None`)
+
+    Subscribe this topic if this value is specified.
+
+* `~run_stop_condition` (`String`, default: `m.data == True`)
+
+    Returning bool value condition using the given Python expression.
+    The Python expression can access any of the Python builtins plus:
+    ``topic`` (the topic of the message), ``m`` (the message) and ``t`` (time of message).
+
+    For example, ``~run_stop_topic`` is ``robot_state (fetch_driver_msgs/RobotState)`` and if you want to check whether a runstop is a pressed, you can do the following.
+
+    ```bash
+    run_stop_condition: "m.runstopped is True"
+    ```
+
+- `~blacklist` (`Yaml`, required)
+
+    User must always specify `name`. You can specify `message` as an option.
+
+    These values are matched using python regular expressions.
+
+    It is something like below:
+
+    ```
+    <!-- speak warning -->
+    <node name="audible_warning"
+          pkg="jsk_tools" type="audible_warning.py"
+          output="screen" >
+      <remap from="/robotsound" to="/sound_play" />
+      <rosparam>
+        run_stop_topic: robot_state
+        run_stop_condition: "m.runstopped is True"
+        seconds_to_start_speaking: 30
+        blacklist:
+          - "/CPU/CPU Usage/my_machine CPU Usage"
+          - "/SoundPlay/sound_play: Node State"
+          - "/Other/jsk_joy_node: Joystick Driver Status"
+          - "/Other/Combined Gyro"
+          - "/Other/l515_head l515_head_realsense2_camera_color: Frequency Status"
+          - "/Other/l515_head l515_head_realsense2_camera_confidence: Frequency Status"
+          - "/Other/l515_head l515_head_realsense2_camera_depth: Frequency Status"
+          - "/Other/l515_head l515_head_realsense2_camera_infra: Frequency Status"
+          - "/Other/ukf_se: Filter diagnostic updater"
+          - "/Peripherals/PS3 Controller"
+          - "/Sensors/IMU/IMU 1 Gyro"
+          - "/Sensors/IMU/IMU 2 Gyro"
+        run_stop_blacklist:
+          - "\\w*_(mcb|breaker)"
+          - "/Motor Control Boards/.*"
+          - "/Breakers/.*"
+      </rosparam>
+    </node>
+    ```
+
+- `~run_stop_blacklist` (`Yaml`, optional)
+
+    This is valid when run_stop is `True`. Blacklist at run_stop.
+
+
+## Usage
+
+Listen warnings from diagnostics.
+
+```bash
+roslaunch jsk_tools sample_audible_warning.launch
+```
+
+![audible_warning](./images/audible_warning.jpg)
diff --git a/doc/jsk_tools/scripts/images/audible_warning.jpg b/doc/jsk_tools/scripts/images/audible_warning.jpg
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HcmV?d00001

diff --git a/jsk_tools/sample/pseudo_diagnostics.py b/jsk_tools/sample/pseudo_diagnostics.py
new file mode 100755
index 000000000..c45aed031
--- /dev/null
+++ b/jsk_tools/sample/pseudo_diagnostics.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+
+import diagnostic_msgs
+import diagnostic_updater
+from packaging import version
+import pkg_resources
+import rospy
+
+
+def change_diagnostics(stat):
+    current_state = True
+
+    def _change_diagnostics(stat):
+        if current_state:
+            stat.summary(diagnostic_msgs.msg.DiagnosticStatus.OK,
+                         "Sensor is OK")
+        else:
+            stat.summary(diagnostic_msgs.msg.DiagnosticStatus.ERROR,
+                         "Sensor is not OK.")
+        current_state = not current_state
+        stat.add("Current State", current_state)
+        return stat
+    return _change_diagnostics
+
+
+class PseudoDiagnostics(object):
+
+    def __init__(self, sensor_name, duration_time=5):
+        self.updater = diagnostic_updater.Updater()
+        self.updater.setHardwareID(sensor_name)
+        self.updater.add("pseudo_diagnostics", change_diagnostics)
+        kwargs = dict(
+            period=rospy.Duration(duration_time),
+            callback=self.update_diagnostics,
+            oneshot=False,
+        )
+        if version.parse(pkg_resources.get_distribution('rospy').version) \
+                >= version.parse('1.12.0'):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            kwargs['reset'] = True
+        self.timer = rospy.Timer(**kwargs)
+
+    def update_diagnostics(self, event):
+        self.updater.update()
+
+
+if __name__ == '__main__':
+    rospy.init_node('pseudo_diagnostics')
+    pusedo_diagnotics = PseudoDiagnostics(
+        sensor_name='sensor1',
+        duration_time=5)
+    pusedo_diagnotics = PseudoDiagnostics(
+        sensor_name='sensor2',
+        duration_time=10)
+    rospy.spin()
diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
new file mode 100644
index 000000000..25abf7e2f
--- /dev/null
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -0,0 +1,39 @@
+<launch>
+
+  <arg name="gui" default="true" />
+  <arg name="device" default="" />
+
+  <node name="pseudo_diagnostics"
+        pkg="jsk_tools" type="pseudo_diagnostics.py"
+        output="screen">
+  </node>
+
+  <node name="diagnostic_aggregator"
+        pkg="diagnostic_aggregator" type="aggregator_node"
+        clear_params="true" >
+    <rosparam command="load" file="$(find jsk_tools)/sample/config/diagnostics_analyzer.yaml" />
+  </node>
+
+  <node name="sound_play"
+        pkg="sound_play" type="soundplay_node.py">
+    <param name="device" value="$(arg device)" />
+    <param name="loop_rate" value="100" />
+  </node>
+
+  <node name="audible_warning_for_fetch"
+        pkg="jsk_tools" type="audible_warning.py"
+        output="screen" >
+    <remap from="/robotsound" to="/sound_play" />
+    <rosparam>
+      speak_interval: 0
+      seconds_to_start_speaking: 5
+    </rosparam>
+  </node>
+
+  <group if="$(arg gui)" >
+    <node name="robot_monitor"
+          pkg="rqt_robot_monitor" type="rqt_robot_monitor" >
+    </node>
+  </group>
+
+</launch>

From f0aec043efd74069effbc37b72c93c5106d1bf2c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 22:13:30 +0900
Subject: [PATCH 21/52] [jsk_tools/audible_warning] Add test

---
 jsk_tools/CMakeLists.txt                       |  2 ++
 jsk_tools/sample/sample_audible_warning.launch |  4 +++-
 jsk_tools/test/test_audible_warning.test       | 17 +++++++++++++++++
 3 files changed, 22 insertions(+), 1 deletion(-)
 create mode 100644 jsk_tools/test/test_audible_warning.test

diff --git a/jsk_tools/CMakeLists.txt b/jsk_tools/CMakeLists.txt
index c1a9e6779..6ae62abfa 100644
--- a/jsk_tools/CMakeLists.txt
+++ b/jsk_tools/CMakeLists.txt
@@ -27,6 +27,7 @@ endforeach(exec)
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
+  roslint_python(src/audible_warning.py)
   roslint_python(src/jsk_tools/cltool.py)
   roslint_python(src/test_topic_published.py)
   roslint_python(src/test_rosparam_set.py)
@@ -49,6 +50,7 @@ if (CATKIN_ENABLE_TESTING)
     # https://github.com/jsk-ros-pkg/jsk_common/pull/1293#issuecomment-164158260
     jsk_tools_add_rostest(test/test_rosparam_set.test)
   endif()
+  jsk_tools_add_rostest(test/test_audible_warning.test)
   jsk_tools_add_rostest(test/test_stdout.test)
   jsk_tools_add_rostest(test/test_rostopic_host_sanity.test)
   jsk_tools_add_rostest(test/test_sanity_diagnostics.test)
diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
index 25abf7e2f..df665639c 100644
--- a/jsk_tools/sample/sample_audible_warning.launch
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -2,6 +2,7 @@
 
   <arg name="gui" default="true" />
   <arg name="device" default="" />
+  <arg name="launch_sound_play" default="true" />
 
   <node name="pseudo_diagnostics"
         pkg="jsk_tools" type="pseudo_diagnostics.py"
@@ -15,7 +16,8 @@
   </node>
 
   <node name="sound_play"
-        pkg="sound_play" type="soundplay_node.py">
+        pkg="sound_play" type="soundplay_node.py"
+        if="$(arg launch_sound_play)" >
     <param name="device" value="$(arg device)" />
     <param name="loop_rate" value="100" />
   </node>
diff --git a/jsk_tools/test/test_audible_warning.test b/jsk_tools/test/test_audible_warning.test
new file mode 100644
index 000000000..12ff0904e
--- /dev/null
+++ b/jsk_tools/test/test_audible_warning.test
@@ -0,0 +1,17 @@
+<launch>
+
+  <include file="$(find jsk_tools)/sample/sample_audible_warning.launch" >
+    <arg name="device" value="plughw:100,0" />  <!-- pseudo device -->
+    <arg name="gui" value="false" />
+  </include>
+
+  <test test-name="test_topic_published"
+        name="test_topic_published"
+        pkg="jsk_tools" type="test_topic_published.py">
+    <rosparam>
+      topic_0: /sound_play/goal
+      timeout_0: 10
+    </rosparam>
+  </test>
+
+</launch>

From 9993337425058d7b44199e7039494e72e3b390b5 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 23:03:57 +0900
Subject: [PATCH 22/52] [jsk_tools/diagnostics_utils] Import zip_longest for
 python2

---
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index 42b8142aa..34d4ea8bb 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -1,4 +1,7 @@
-import itertools
+try:
+    from itertools import zip_longest
+except:
+    from itertools import izip_longest as zip_longest
 import re
 
 
@@ -62,7 +65,7 @@ def filter_diagnostics_status_list(status_list, blacklist,
         if is_leaf(ns) is False:
             continue
         matched = False
-        for bn, message in itertools.zip_longest(
+        for bn, message in zip_longest(
                 blacklist, blacklist_messages):
             if re.match(bn, ns):
                 if message is None or re.match(message, s.message):

From 27d2fe17871cf2c9cbedc3051805c3a5af5d81f2 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 23:37:40 +0900
Subject: [PATCH 23/52] [jsk_tools/audible_warning] Use LooseVersion for
 python2

---
 jsk_tools/sample/pseudo_diagnostics.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_tools/sample/pseudo_diagnostics.py b/jsk_tools/sample/pseudo_diagnostics.py
index c45aed031..92f0b4d4c 100755
--- a/jsk_tools/sample/pseudo_diagnostics.py
+++ b/jsk_tools/sample/pseudo_diagnostics.py
@@ -2,7 +2,7 @@
 
 import diagnostic_msgs
 import diagnostic_updater
-from packaging import version
+from distutils.version import LooseVersion as version
 import pkg_resources
 import rospy
 
@@ -34,8 +34,8 @@ def __init__(self, sensor_name, duration_time=5):
             callback=self.update_diagnostics,
             oneshot=False,
         )
-        if version.parse(pkg_resources.get_distribution('rospy').version) \
-                >= version.parse('1.12.0'):
+        if version(pkg_resources.get_distribution('rospy').version) \
+                >= version('1.12.0'):
             # on >=kinetic, it raises ROSTimeMovedBackwardsException
             # when we use rosbag play --loop.
             kwargs['reset'] = True

From 769ccc45fc24f5a79d9d06d6dd1e9b8aaa33a98e Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 18 May 2022 00:29:11 +0900
Subject: [PATCH 24/52] [jsk_tools/audible-warning] Set volume if it has volume
 property

---
 jsk_tools/src/audible_warning.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index f0b49171f..5dbf904a6 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -98,7 +98,8 @@ def run(self):
                 goal.sound_request.command = SoundRequest.PLAY_ONCE
                 goal.sound_request.arg = sentence
                 goal.sound_request.arg2 = self.language
-                goal.sound_request.volume = self.volume
+                if hasattr(goal.sound_request, 'volume'):
+                    goal.sound_request.volume = self.volume
 
                 self.previous_spoken_time[e.name] = rospy.Time.now().to_sec()
                 self.talk.send_goal(goal)

From 9b24b9c2b552e1cd98115d138d38e48cdd573ce6 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 18 May 2022 01:13:30 +0900
Subject: [PATCH 25/52] [jsk_tools/audible-warning] Fixed test name

---
 jsk_tools/test/test_audible_warning.test | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/test/test_audible_warning.test b/jsk_tools/test/test_audible_warning.test
index 12ff0904e..9efa2e8b3 100644
--- a/jsk_tools/test/test_audible_warning.test
+++ b/jsk_tools/test/test_audible_warning.test
@@ -5,8 +5,8 @@
     <arg name="gui" value="false" />
   </include>
 
-  <test test-name="test_topic_published"
-        name="test_topic_published"
+  <test test-name="test_audible_warning"
+        name="test_audible_warning"
         pkg="jsk_tools" type="test_topic_published.py">
     <rosparam>
       topic_0: /sound_play/goal

From 188c2e82f497b03124731b9639bf80aa6d4d2bf7 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 23 May 2022 14:51:06 +0900
Subject: [PATCH 26/52] [jsk_tools/audible_warning] Split sample
 diagnostics_analyzer

---
 ...mple_audible_warning_diagnostics_analyzer.yaml | 15 +++++++++++++++
 jsk_tools/sample/sample_audible_warning.launch    |  2 +-
 2 files changed, 16 insertions(+), 1 deletion(-)
 create mode 100644 jsk_tools/sample/config/sample_audible_warning_diagnostics_analyzer.yaml

diff --git a/jsk_tools/sample/config/sample_audible_warning_diagnostics_analyzer.yaml b/jsk_tools/sample/config/sample_audible_warning_diagnostics_analyzer.yaml
new file mode 100644
index 000000000..c6c0feb93
--- /dev/null
+++ b/jsk_tools/sample/config/sample_audible_warning_diagnostics_analyzer.yaml
@@ -0,0 +1,15 @@
+analyzers:
+  cameras:
+    type: diagnostic_aggregator/AnalyzerGroup
+    path: Sensors
+    analyzers:
+      pseudo_diagnostics1:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: sensor1
+        find_and_remove_prefix: 'pseudo_diagnostics: '
+        num_items: 1
+      pseudo_diagnostics2:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: sensor2
+        find_and_remove_prefix: 'pseudo_diagnostics: '
+        num_items: 1
diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
index df665639c..7ebc1a4d8 100644
--- a/jsk_tools/sample/sample_audible_warning.launch
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -12,7 +12,7 @@
   <node name="diagnostic_aggregator"
         pkg="diagnostic_aggregator" type="aggregator_node"
         clear_params="true" >
-    <rosparam command="load" file="$(find jsk_tools)/sample/config/diagnostics_analyzer.yaml" />
+    <rosparam command="load" file="$(find jsk_tools)/sample/config/sample_audible_warning_diagnostics_analyzer.yaml" />
   </node>
 
   <node name="sound_play"

From fb4536c940a65a93ac7e4f7cbb6b0f3f1b76acc7 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 28 Jun 2022 22:36:55 +0900
Subject: [PATCH 27/52] [jsk_tools] add rossetclient

---
 jsk_tools/env-hooks/99.jsk_tools.sh | 25 ++++++++++++++++++++++++-
 1 file changed, 24 insertions(+), 1 deletion(-)

diff --git a/jsk_tools/env-hooks/99.jsk_tools.sh b/jsk_tools/env-hooks/99.jsk_tools.sh
index c07ec0fb4..22e2ccdfb 100644
--- a/jsk_tools/env-hooks/99.jsk_tools.sh
+++ b/jsk_tools/env-hooks/99.jsk_tools.sh
@@ -44,7 +44,11 @@ _update_prompt() {
             export PS1="${WITHOUT_ROS_PROMPT}"
         fi
     elif [ "$master_host" != "" ]; then
-        local ros_prompt="[$ROS_MASTER_URI][$ROS_IP]"
+        if [[ "$ROS_HOSTNAME" != "" && "$ROS_IP" == "" ]]; then
+            local ros_prompt="[$ROS_MASTER_URI][$ROS_HOSTNAME]"
+        else
+            local ros_prompt="[$ROS_MASTER_URI][$ROS_IP]"
+        fi
         if [ "$CATKIN_SHELL" = "bash" ]; then
             export PS1="\[\033[00;31m\]$ros_prompt\[\033[00m\] ${WITHOUT_ROS_PROMPT}"
         elif [ "$CATKIN_SHELL" = "zsh" ]; then
@@ -86,6 +90,7 @@ rossetip_dev() {
 
 rossetip_addr() {
     local target_host=${1-"133.11.216.211"}
+    echo "target_host: $target_host"
     # Check if target_host looks like ip address or not
     if [ "$(echo $target_host | sed -e 's/[0-9\.]//g')" != "" ]; then
         target_host_ip=$(timeout 0.01 getent hosts ${target_host} | cut -f 1 -d ' ')
@@ -125,6 +130,24 @@ rossetip() {
     fi
 }
 
+rossetclient() {
+    local client_interface=$1
+    if [[ $client_interface =~ [0-9]+.[0-9]+.[0-9]+.[0-9]+ ]]; then
+        export ROS_IP="$client_interface"
+    else
+        local addr_if_client_is_device=${LANC=C ip -o -4 a | grep lo\ \ \  | cut -d\  -f7 | cut -d\/ -f1}
+        if [[ $addr_if_client_is_device = "" ]]; then
+            export ROS_IP="$addr_if_client_is_device"
+        else
+            export ROS_HOSTNAME="$client_interface"
+        fi
+    fi
+    echo -e "\e[1;31mset ROS_IP to \"$ROS_IP\" and ROS_HOSTNAME to \"$ROS_HOSTNAME\"\e[m"
+    if [ "$NO_ROS_PROMPT" = "" ]; then
+        _update_prompt
+    fi
+}
+
 rosn() {
     if [ "$1" = "" ]; then
         select=$(rosnode list | percol | xargs -n 1 rosnode info | percol)

From c6073bc436b5fdf48be09c0786aeffdf646ab60c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 19:46:17 +0900
Subject: [PATCH 28/52] [audible_warning] Add diagnostics_level_to_str

---
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index 34d4ea8bb..a65c506bc 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -4,6 +4,8 @@
     from itertools import izip_longest as zip_longest
 import re
 
+from diagnostic_msgs.msg import DiagnosticStatus
+
 
 cached_paths = {}
 cached_result = {}
@@ -75,3 +77,16 @@ def filter_diagnostics_status_list(status_list, blacklist,
             continue
         filtered_status.append(s)
     return filtered_status
+
+
+def diagnostics_level_to_str(level):
+    if level == DiagnosticStatus.OK:
+        return 'OK'
+    elif level == DiagnosticStatus.WARN:
+        return 'WARN'
+    elif level == DiagnosticStatus.ERROR:
+        return 'ERROR'
+    elif level == DiagnosticStatus.STALE:
+        return 'STALE'
+    else:
+        raise ValueError('Not valid level {}'.format(level))

From 012f51436a55cc978056d19789c92acb14c760d7 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 19:48:15 +0900
Subject: [PATCH 29/52] [audible_warning] Add dynamic reconfigure parameters

---
 jsk_tools/CMakeLists.txt         | 21 +++++++++++++++++++--
 jsk_tools/cfg/AudibleWarning.cfg | 19 +++++++++++++++++++
 jsk_tools/package.xml            |  4 ++++
 3 files changed, 42 insertions(+), 2 deletions(-)
 create mode 100755 jsk_tools/cfg/AudibleWarning.cfg

diff --git a/jsk_tools/CMakeLists.txt b/jsk_tools/CMakeLists.txt
index 6ae62abfa..1140b01fa 100644
--- a/jsk_tools/CMakeLists.txt
+++ b/jsk_tools/CMakeLists.txt
@@ -1,11 +1,19 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(jsk_tools)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED
+  COMPONENTS
+  message_generation
+  dynamic_reconfigure)
 catkin_python_setup()
 set(ROS_BUILD_TYPE RelWithDebInfo)
+
+generate_dynamic_reconfigure_options(
+  cfg/AudibleWarning.cfg
+)
+
 catkin_package(
-  CATKIN_DEPENDS #
+  CATKIN_DEPENDS message_runtime #
   LIBRARIES #
   INCLUDE_DIRS #
   DEPENDS #
@@ -25,6 +33,15 @@ foreach(exec ${BIN_EXECUTABLES})
   install(PROGRAMS bin/${exec} DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 endforeach(exec)
 
+file(GLOB SCRIPT_PROGRAMS src/*.py)
+catkin_install_python(
+  PROGRAMS ${SCRIPT_PROGRAMS}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
+file(GLOB SCRIPT_BIN_PROGRAMS bin/*.py)
+catkin_install_python(
+  PROGRAMS ${SCRIPT_BIN_PROGRAMS}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bin/)
+
 if (CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
   roslint_python(src/audible_warning.py)
diff --git a/jsk_tools/cfg/AudibleWarning.cfg b/jsk_tools/cfg/AudibleWarning.cfg
new file mode 100755
index 000000000..21e4997bc
--- /dev/null
+++ b/jsk_tools/cfg/AudibleWarning.cfg
@@ -0,0 +1,19 @@
+#! /usr/bin/env python
+
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+PACKAGE = 'jsk_tools'
+
+gen = ParameterGenerator()
+speak_group = gen.add_group("speak flag")
+speak_group.add("enable", bool_t, 0, "Flag of speak", True)
+speak_group.add("speak_ok", bool_t, 0, "Speak ok level diagnostics", False)
+speak_group.add("speak_stale", bool_t, 0, "Speak stale level diagnostics", True)
+speak_group.add("speak_warn", bool_t, 0, "Speak warn level diagnostics", True)
+speak_group.add("speak_error", bool_t, 0, "Speak error level diagnostics", True)
+
+gen.add("volume", double_t, 0, "Volume of sound.", 1.0, 0.0, 1.0)
+gen.add("speak_interval", double_t, 0, "Volume of sound.", 120.0, 0.0, 3600.0)
+
+exit(gen.generate(PACKAGE, PACKAGE, "AudibleWarning"))
diff --git a/jsk_tools/package.xml b/jsk_tools/package.xml
index ef0a9d455..afeeb7a2d 100644
--- a/jsk_tools/package.xml
+++ b/jsk_tools/package.xml
@@ -15,12 +15,16 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>git</build_depend>
+  <build_depend>message_generation</build_depend>
   <build_depend>rosgraph_msgs</build_depend>
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>diagnostic_aggregator</exec_depend>
   <exec_depend>diagnostic_msgs</exec_depend>
   <exec_depend>diagnostic_updater</exec_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
   <exec_depend>python-percol</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-colorama</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-colorama</exec_depend>

From 7473d0736cefbf515417885ffc6a74cff199d74c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 19:48:39 +0900
Subject: [PATCH 30/52] [audible_warning/sample] Fixed audible_warning node
 name

---
 jsk_tools/sample/sample_audible_warning.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
index 7ebc1a4d8..236c97e14 100644
--- a/jsk_tools/sample/sample_audible_warning.launch
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -22,7 +22,7 @@
     <param name="loop_rate" value="100" />
   </node>
 
-  <node name="audible_warning_for_fetch"
+  <node name="audible_warning"
         pkg="jsk_tools" type="audible_warning.py"
         output="screen" >
     <remap from="/robotsound" to="/sound_play" />

From 9bf9f1b652ecf8b591b59bddce862d0588bf86b4 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 19:49:23 +0900
Subject: [PATCH 31/52] [audible_warning] Use dynamic reconfigure params

---
 jsk_tools/src/audible_warning.py | 85 +++++++++++++++++++++++++-------
 1 file changed, 67 insertions(+), 18 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 5dbf904a6..f93186283 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -12,11 +12,14 @@
 import actionlib
 from diagnostic_msgs.msg import DiagnosticArray
 from diagnostic_msgs.msg import DiagnosticStatus
+from dynamic_reconfigure.server import Server
 import rospy
 from sound_play.msg import SoundRequest
 from sound_play.msg import SoundRequestAction
 from sound_play.msg import SoundRequestGoal
 
+from jsk_tools.cfg import AudibleWarningConfig as Config
+from jsk_tools.diagnostics_utils import diagnostics_level_to_str
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 from jsk_tools.diagnostics_utils import is_leaf
 
@@ -33,7 +36,8 @@ def __init__(self, rate=1.0, wait=True,
                  language='',
                  volume=1.0,
                  speak_interval=0,
-                 wait_speak_duration_time=10):
+                 wait_speak_duration_time=10,
+                 diagnostics_level_list=None):
         super(SpeakThread, self).__init__()
         self.wait_speak_duration_time = wait_speak_duration_time
         self.event = Event()
@@ -43,9 +47,11 @@ def __init__(self, rate=1.0, wait=True,
         self.lock = Lock()
         self.status_list = []
         self.speak_interval = speak_interval
+        self.diagnostics_level_list = diagnostics_level_list or []
         tm = rospy.Time.now().to_sec() \
             - speak_interval
         self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
+        self.speak_flag = True
         self.language = language
 
         self.talk = actionlib.SimpleActionClient(
@@ -55,6 +61,36 @@ def __init__(self, rate=1.0, wait=True,
     def stop(self):
         self.event.set()
 
+    def set_diagnostics_level_list(self, level_list):
+        self.diagnostics_level_list = level_list
+
+    def set_speak_flag(self, flag):
+        if flag is True and self.speak_flag is False:
+            # clear queue before start speaking.
+            with self.lock:
+                self.status_list = []
+        self.speak_flag = flag
+        if self.speak_flag is True:
+            rospy.loginfo('audible warning is enabled. speak [{}] levels'
+                          .format(', '.join(map(diagnostics_level_to_str,
+                                                self.diagnostics_level_list))))
+        else:
+            rospy.loginfo('audible warning is disabled.')
+
+    def set_volume(self, volume):
+        volume = min(max(0.0, volume), 1.0)
+        if self.volume != volume:
+            self.volume = volume
+            rospy.loginfo("audible warning's volume was set to {}".format(
+                self.volume))
+
+    def set_speak_interval(self, interval):
+        interval = max(0.0, interval)
+        if self.speak_interval != interval:
+            self.speak_interval = interval
+            rospy.loginfo("audible warning's speak interval was set to {}"
+                          .format(self.speak_interval))
+
     def add(self, status_list):
         with self.lock:
             for status in status_list:
@@ -79,7 +115,14 @@ def run(self):
         while not self.event.wait(self.rate):
             e = self.pop()
             if e:
-                if e.level == DiagnosticStatus.WARN:
+                if self.speak_flag is False:
+                    continue
+                if e.level not in self.diagnostics_level_list:
+                    continue
+
+                if e.level == DiagnosticStatus.OK:
+                    prefix = 'ok.'
+                elif e.level == DiagnosticStatus.WARN:
                     prefix = 'warning.'
                 elif e.level == DiagnosticStatus.ERROR:
                     prefix = 'error.'
@@ -112,9 +155,7 @@ class AudibleWarning(object):
 
     def __init__(self):
         speak_rate = rospy.get_param("~speak_rate", 1.0)
-        speak_interval = rospy.get_param("~speak_interval", 120.0)
         wait_speak = rospy.get_param("~wait_speak", True)
-        volume = rospy.get_param("~volume", 1.0)
         language = rospy.get_param('~language', '')
         seconds_to_start_speaking = rospy.get_param(
             '~seconds_to_start_speaking', 0)
@@ -127,14 +168,6 @@ def __init__(self):
                 < seconds_to_start_speaking:
             rate.sleep()
 
-        self.diagnostics_list = []
-        if rospy.get_param("~speak_warn", True):
-            self.diagnostics_list.append(DiagnosticStatus.WARN)
-        if rospy.get_param("~speak_error", True):
-            self.diagnostics_list.append(DiagnosticStatus.ERROR)
-        if rospy.get_param("~speak_stale", True):
-            self.diagnostics_list.append(DiagnosticStatus.STALE)
-
         blacklist = rospy.get_param("~blacklist", [])
         self.blacklist_names = []
         self.blacklist_messages = []
@@ -149,9 +182,11 @@ def __init__(self):
             else:
                 message = re.compile(bl['message'])
             self.blacklist_messages.append(message)
-        self.speak_thread = SpeakThread(speak_rate, wait_speak,
-                                        language, volume, speak_interval,
-                                        seconds_to_start_speaking)
+        self.speak_thread = SpeakThread(
+            speak_rate, wait_speak,
+            language,
+            wait_speak_duration_time=seconds_to_start_speaking)
+        self.srv = Server(Config, self.config_callback)
 
         # run-stop
         self.speak_when_runstopped = rospy.get_param(
@@ -190,6 +225,22 @@ def __init__(self):
             self.diag_cb, queue_size=1)
         self.speak_thread.start()
 
+    def config_callback(self, config, level):
+        level_list = []
+        if config.speak_ok:
+            level_list.append(DiagnosticStatus.OK)
+        if config.speak_warn:
+            level_list.append(DiagnosticStatus.WARN)
+        if config.speak_error:
+            level_list.append(DiagnosticStatus.ERROR)
+        if config.speak_stale:
+            level_list.append(DiagnosticStatus.STALE)
+        self.speak_thread.set_diagnostics_level_list(level_list)
+        self.speak_thread.set_speak_flag(config.enable)
+        self.speak_thread.set_volume(config.volume)
+        self.speak_thread.set_speak_interval(config.speak_interval)
+        return config
+
     def run_stop_callback(self, msg):
         if isinstance(msg, rospy.msg.AnyMsg):
             package, msg_type = msg._connection_header['type'].split('/')
@@ -208,9 +259,7 @@ def on_shutdown(self):
         self.speak_thread.join()
 
     def diag_cb(self, msg):
-        target_status_list = filter(
-            lambda n: n.level in self.diagnostics_list,
-            msg.status)
+        target_status_list = msg.status
         if self.run_stop:
             if self.speak_when_runstopped is False:
                 rospy.logdebug('RUN STOP is pressed. Do not speak warning.')

From 024f67b45c1ea7560ca0890e4759bd28e98ab80c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Fri, 3 Jun 2022 23:48:44 +0900
Subject: [PATCH 32/52] [audible_warning] Add inflection_utils for
 camel_to_snake case

---
 jsk_tools/src/audible_warning.py            |  2 ++
 jsk_tools/src/jsk_tools/inflection_utils.py | 15 +++++++++++++++
 2 files changed, 17 insertions(+)
 create mode 100644 jsk_tools/src/jsk_tools/inflection_utils.py

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index f93186283..6d4fecefd 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -22,6 +22,7 @@
 from jsk_tools.diagnostics_utils import diagnostics_level_to_str
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 from jsk_tools.diagnostics_utils import is_leaf
+from jsk_tools.inflection_utils import camel_to_snake
 
 
 def expr_eval(expr):
@@ -131,6 +132,7 @@ def run(self):
                 else:
                     prefix = 'ok.'
                 sentence = prefix + e.name + ' ' + e.message
+                sentence = camel_to_snake(sentence)
                 sentence = sentence.replace('/', ' ')
                 sentence = sentence.replace('_', ' ')
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
diff --git a/jsk_tools/src/jsk_tools/inflection_utils.py b/jsk_tools/src/jsk_tools/inflection_utils.py
new file mode 100644
index 000000000..455869920
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/inflection_utils.py
@@ -0,0 +1,15 @@
+import re
+
+
+def camel_to_snake(word):
+    """Convert Camel case to snake case.
+
+    Examples
+    --------
+    >>> camel_to_snake('clusterPointIndices')
+    'cluster_point_indices'
+    """
+    word = re.sub(r"([A-Z]+)([A-Z][a-z])", r'\1_\2', word)
+    word = re.sub(r"([a-z\d])([A-Z])", r'\1_\2', word)
+    word = word.replace("-", "_")
+    return word.lower()

From 1ffabe7c467e9b28cbb718dbd841103ecd002804 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 20:56:20 +0900
Subject: [PATCH 33/52] [audible_warning] Add ignore after runstop time

---
 jsk_tools/cfg/AudibleWarning.cfg |  6 ++++++
 jsk_tools/src/audible_warning.py | 28 ++++++++++++++++++++++++++--
 2 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/cfg/AudibleWarning.cfg b/jsk_tools/cfg/AudibleWarning.cfg
index 21e4997bc..bd1144e44 100755
--- a/jsk_tools/cfg/AudibleWarning.cfg
+++ b/jsk_tools/cfg/AudibleWarning.cfg
@@ -15,5 +15,11 @@ speak_group.add("speak_error", bool_t, 0, "Speak error level diagnostics", True)
 
 gen.add("volume", double_t, 0, "Volume of sound.", 1.0, 0.0, 1.0)
 gen.add("speak_interval", double_t, 0, "Volume of sound.", 120.0, 0.0, 3600.0)
+gen.add("ignore_time_after_runstop_is_enabled", double_t, 0,
+        "Time to ignore diagnostics after runstop is enabled.",
+        0.0, 0.0, 3600.0)
+gen.add("ignore_time_after_runstop_is_disabled", double_t, 0,
+        "Time to ignore diagnostics after runstop is disabled.",
+        0.0, 0.0, 3600.0)
 
 exit(gen.generate(PACKAGE, PACKAGE, "AudibleWarning"))
diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 6d4fecefd..456347362 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -163,6 +163,9 @@ def __init__(self):
             '~seconds_to_start_speaking', 0)
 
         # Wait until seconds_to_start_speaking the time has passed.
+        self.run_stop_enabled_time = None
+        self.run_stop_disabled_time = None
+        self.run_stop_time = None
         rate = rospy.Rate(10)
         start_time = rospy.Time.now()
         while not rospy.is_shutdown() \
@@ -241,6 +244,10 @@ def config_callback(self, config, level):
         self.speak_thread.set_speak_flag(config.enable)
         self.speak_thread.set_volume(config.volume)
         self.speak_thread.set_speak_interval(config.speak_interval)
+        self.ignore_time_after_runstop_is_enabled = \
+            config.ignore_time_after_runstop_is_enabled
+        self.ignore_time_after_runstop_is_disabled = \
+            config.ignore_time_after_runstop_is_disabled
         return config
 
     def run_stop_callback(self, msg):
@@ -253,8 +260,15 @@ def run_stop_callback(self, msg):
                 self.run_stop_topic, msg_class, self.run_stop_callback)
             self.run_stop_sub = deserialized_sub
             return
-        self.run_stop = self.run_stop_condition(
-            self.run_stop_topic, msg, rospy.Time.now())
+        tm = rospy.Time.now()
+        run_stop = self.run_stop_condition(
+            self.run_stop_topic, msg, tm)
+        if run_stop != self.run_stop:
+            if run_stop is True:
+                self.run_stop_enabled_time = tm
+            else:
+                self.run_stop_disabled_time = tm
+        self.run_stop = run_stop
 
     def on_shutdown(self):
         self.speak_thread.stop()
@@ -262,6 +276,16 @@ def on_shutdown(self):
 
     def diag_cb(self, msg):
         target_status_list = msg.status
+
+        if self.ignore_time_after_runstop_is_enabled > 0.0:
+            if ((rospy.Time.now() - self.run_stop_enabled_time).to_sec <
+                    self.ignore_time_after_runstop_is_enabled):
+                return
+        if self.ignore_time_after_runstop_is_disabled > 0.0:
+            if ((rospy.Time.now() - self.run_stop_disabled_time).to_sec <
+                    self.ignore_time_after_runstop_is_disabled):
+                return
+
         if self.run_stop:
             if self.speak_when_runstopped is False:
                 rospy.logdebug('RUN STOP is pressed. Do not speak warning.')

From b16778a1380895b37a272461af7cbd4a0f91a14d Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 4 Jun 2022 02:16:44 +0900
Subject: [PATCH 34/52] [audible_warning] Ignore if
 self.run_stop_(disabled|enabled)_time is None

---
 jsk_tools/src/audible_warning.py | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 456347362..787dfc6df 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -165,7 +165,6 @@ def __init__(self):
         # Wait until seconds_to_start_speaking the time has passed.
         self.run_stop_enabled_time = None
         self.run_stop_disabled_time = None
-        self.run_stop_time = None
         rate = rospy.Rate(10)
         start_time = rospy.Time.now()
         while not rospy.is_shutdown() \
@@ -278,12 +277,16 @@ def diag_cb(self, msg):
         target_status_list = msg.status
 
         if self.ignore_time_after_runstop_is_enabled > 0.0:
-            if ((rospy.Time.now() - self.run_stop_enabled_time).to_sec <
-                    self.ignore_time_after_runstop_is_enabled):
+            if self.run_stop_enabled_time is not None \
+                    and ((rospy.Time.now()
+                          - self.run_stop_enabled_time).to_sec <
+                         self.ignore_time_after_runstop_is_enabled):
                 return
         if self.ignore_time_after_runstop_is_disabled > 0.0:
-            if ((rospy.Time.now() - self.run_stop_disabled_time).to_sec <
-                    self.ignore_time_after_runstop_is_disabled):
+            if self.run_stop_disabled_time is not None \
+                    and ((rospy.Time.now()
+                          - self.run_stop_disabled_time).to_sec <
+                         self.ignore_time_after_runstop_is_disabled):
                 return
 
         if self.run_stop:

From b42daedee71e26c08cd25e504ee22efb0449f7b5 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 4 Jun 2022 02:20:15 +0900
Subject: [PATCH 35/52] [audible_warning] Add docs for dynamic reconfigure's
 parameters

---
 doc/jsk_tools/scripts/audible_warning.md | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/doc/jsk_tools/scripts/audible_warning.md b/doc/jsk_tools/scripts/audible_warning.md
index 61aadee5c..75888827f 100644
--- a/doc/jsk_tools/scripts/audible_warning.md
+++ b/doc/jsk_tools/scripts/audible_warning.md
@@ -49,6 +49,14 @@ Robots using diagnostics can use this node.
 
     This is useful for ignoring errors that occur when the robot starts.
 
+* `~enable` (`Bool`, default: `True`)
+
+    If `True`, speak diagnositcs. If `False`, this node don't speak.
+
+* `~speak_ok` (`Bool`, default: `False`)
+
+    If `True`, speak ok level diagnostics.
+
 * `~speak_warn` (`Bool`, default: `True`)
 
     If `True`, speak warning level diagnostics.
@@ -81,6 +89,14 @@ Robots using diagnostics can use this node.
     run_stop_condition: "m.runstopped is True"
     ```
 
+* `~ignore_time_after_runstop_is_enabled` (`Float`, default: `0.0`)
+
+    Time to ignore diagnostics after runstop is enabled.
+
+* `~ignore_time_after_runstop_is_disabled` (`Float`, default: `0.0`)
+
+    Time to ignore diagnostics after runstop is disabled.
+
 - `~blacklist` (`Yaml`, required)
 
     User must always specify `name`. You can specify `message` as an option.

From 69757a457c4da33a471685390fd3ca4b7acfc874 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 00:58:28 +0900
Subject: [PATCH 36/52] [audible_warning] Move audible_warning.py to
 node_scripts.

---
 jsk_tools/CMakeLists.txt                           | 14 ++------------
 jsk_tools/{src => node_scripts}/audible_warning.py |  0
 jsk_tools/package.xml                              |  2 --
 3 files changed, 2 insertions(+), 14 deletions(-)
 rename jsk_tools/{src => node_scripts}/audible_warning.py (100%)

diff --git a/jsk_tools/CMakeLists.txt b/jsk_tools/CMakeLists.txt
index 1140b01fa..c0b5db08e 100644
--- a/jsk_tools/CMakeLists.txt
+++ b/jsk_tools/CMakeLists.txt
@@ -3,7 +3,6 @@ project(jsk_tools)
 
 find_package(catkin REQUIRED
   COMPONENTS
-  message_generation
   dynamic_reconfigure)
 catkin_python_setup()
 set(ROS_BUILD_TYPE RelWithDebInfo)
@@ -13,7 +12,7 @@ generate_dynamic_reconfigure_options(
 )
 
 catkin_package(
-  CATKIN_DEPENDS message_runtime #
+  CATKIN_DEPENDS dynamic_reconfigure #
   LIBRARIES #
   INCLUDE_DIRS #
   DEPENDS #
@@ -33,15 +32,6 @@ foreach(exec ${BIN_EXECUTABLES})
   install(PROGRAMS bin/${exec} DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 endforeach(exec)
 
-file(GLOB SCRIPT_PROGRAMS src/*.py)
-catkin_install_python(
-  PROGRAMS ${SCRIPT_PROGRAMS}
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
-file(GLOB SCRIPT_BIN_PROGRAMS bin/*.py)
-catkin_install_python(
-  PROGRAMS ${SCRIPT_BIN_PROGRAMS}
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bin/)
-
 if (CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
   roslint_python(src/audible_warning.py)
@@ -93,7 +83,7 @@ install(DIRECTORY test
   USE_SOURCE_PERMISSIONS
   PATTERN "*.test" EXCLUDE
   )
-install(DIRECTORY src dot-files cmake launch sample
+install(DIRECTORY src dot-files cmake launch sample node_scripts
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
   )
diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
similarity index 100%
rename from jsk_tools/src/audible_warning.py
rename to jsk_tools/node_scripts/audible_warning.py
diff --git a/jsk_tools/package.xml b/jsk_tools/package.xml
index afeeb7a2d..082dc1b2b 100644
--- a/jsk_tools/package.xml
+++ b/jsk_tools/package.xml
@@ -17,14 +17,12 @@
 
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>git</build_depend>
-  <build_depend>message_generation</build_depend>
   <build_depend>rosgraph_msgs</build_depend>
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>diagnostic_aggregator</exec_depend>
   <exec_depend>diagnostic_msgs</exec_depend>
   <exec_depend>diagnostic_updater</exec_depend>
   <exec_depend>dynamic_reconfigure</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
   <exec_depend>python-percol</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-colorama</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-colorama</exec_depend>

From 78f3928e73d84d26e120993a1904fefe6d2e4898 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 01:09:14 +0900
Subject: [PATCH 37/52] [audible_warning] Fixed lint test target path

---
 jsk_tools/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/CMakeLists.txt b/jsk_tools/CMakeLists.txt
index c0b5db08e..451998060 100644
--- a/jsk_tools/CMakeLists.txt
+++ b/jsk_tools/CMakeLists.txt
@@ -34,7 +34,7 @@ endforeach(exec)
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
-  roslint_python(src/audible_warning.py)
+  roslint_python(node_scripts/audible_warning.py)
   roslint_python(src/jsk_tools/cltool.py)
   roslint_python(src/test_topic_published.py)
   roslint_python(src/test_rosparam_set.py)

From 8e119f61ac5153df53e0d3da7d587efd243f1940 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 01:09:26 +0900
Subject: [PATCH 38/52] [audible_warning] Fixed lint

---
 jsk_tools/node_scripts/audible_warning.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 787dfc6df..49b604fd3 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -278,14 +278,14 @@ def diag_cb(self, msg):
 
         if self.ignore_time_after_runstop_is_enabled > 0.0:
             if self.run_stop_enabled_time is not None \
-                    and ((rospy.Time.now()
-                          - self.run_stop_enabled_time).to_sec <
+                    and ((rospy.Time.now() -
+                          self.run_stop_enabled_time).to_sec <
                          self.ignore_time_after_runstop_is_enabled):
                 return
         if self.ignore_time_after_runstop_is_disabled > 0.0:
             if self.run_stop_disabled_time is not None \
-                    and ((rospy.Time.now()
-                          - self.run_stop_disabled_time).to_sec <
+                    and ((rospy.Time.now() -
+                          self.run_stop_disabled_time).to_sec <
                          self.ignore_time_after_runstop_is_disabled):
                 return
 

From 1b10cb3040213d36fc26639a5ac8164a310c3da4 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 13:14:18 +0900
Subject: [PATCH 39/52] [audible_warning] Convert multiple space to one

---
 jsk_tools/node_scripts/audible_warning.py | 2 ++
 jsk_tools/src/jsk_tools/string_utils.py   | 2 ++
 2 files changed, 4 insertions(+)
 create mode 100644 jsk_tools/src/jsk_tools/string_utils.py

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 49b604fd3..eefe464a8 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -23,6 +23,7 @@
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 from jsk_tools.diagnostics_utils import is_leaf
 from jsk_tools.inflection_utils import camel_to_snake
+from jsk_tools.string_utils import multiple_whitespace_to_one
 
 
 def expr_eval(expr):
@@ -135,6 +136,7 @@ def run(self):
                 sentence = camel_to_snake(sentence)
                 sentence = sentence.replace('/', ' ')
                 sentence = sentence.replace('_', ' ')
+                sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
 
diff --git a/jsk_tools/src/jsk_tools/string_utils.py b/jsk_tools/src/jsk_tools/string_utils.py
new file mode 100644
index 000000000..fe9459ce5
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/string_utils.py
@@ -0,0 +1,2 @@
+def multiple_whitespace_to_one(text):
+    return ' '.join(text.split())

From a044fcd1826cbdb79c2dd34d6ec41befcf2558a3 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 13:14:35 +0900
Subject: [PATCH 40/52] [audible_warning] Convert colon symbol to english text

---
 jsk_tools/node_scripts/audible_warning.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index eefe464a8..da2bb8444 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -136,6 +136,7 @@ def run(self):
                 sentence = camel_to_snake(sentence)
                 sentence = sentence.replace('/', ' ')
                 sentence = sentence.replace('_', ' ')
+                sentence = sentence.replace(':', ' colon ')
                 sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)

From cf21b2ce42eead490e9f8d29b87b9ca98d279826 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 13:21:30 +0900
Subject: [PATCH 41/52] [audible_warning] Add publishing text

---
 jsk_tools/node_scripts/audible_warning.py | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index da2bb8444..769ee5b9a 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -13,6 +13,7 @@
 from diagnostic_msgs.msg import DiagnosticArray
 from diagnostic_msgs.msg import DiagnosticStatus
 from dynamic_reconfigure.server import Server
+import std_msgs.msg
 import rospy
 from sound_play.msg import SoundRequest
 from sound_play.msg import SoundRequestAction
@@ -56,6 +57,13 @@ def __init__(self, rate=1.0, wait=True,
         self.speak_flag = True
         self.language = language
 
+        self.pub_original_text = rospy.Publisher('~output/original_text',
+                                                 std_msgs.msg.String,
+                                                 queue_size=1)
+        self.pub_speak_text = rospy.Publisher('~output/text',
+                                              std_msgs.msg.String,
+                                              queue_size=1)
+
         self.talk = actionlib.SimpleActionClient(
             "/robotsound", SoundRequestAction)
         self.talk.wait_for_server()
@@ -140,6 +148,9 @@ def run(self):
                 sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
+                self.pub_original_text.publish(e.message)
+                self.pub_speak_text.publish(
+                    "audible warning talking: %s" % sentence)
 
                 goal = SoundRequestGoal()
                 goal.sound_request.sound = SoundRequest.SAY

From 42332db0c942f4736bc7255b4686638529a587bf Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 8 Jun 2022 18:53:30 +0900
Subject: [PATCH 42/52] [audible_warning] Add AudibleWarningClient for
 reconfigure

---
 jsk_tools/src/jsk_tools/clients/__init__.py    |  1 +
 .../clients/audible_warninig_client.py         | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+)
 create mode 100644 jsk_tools/src/jsk_tools/clients/__init__.py
 create mode 100644 jsk_tools/src/jsk_tools/clients/audible_warninig_client.py

diff --git a/jsk_tools/src/jsk_tools/clients/__init__.py b/jsk_tools/src/jsk_tools/clients/__init__.py
new file mode 100644
index 000000000..91a96e71c
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/clients/__init__.py
@@ -0,0 +1 @@
+from .audible_warninig_client import AudibleWarningReconfigureClient
diff --git a/jsk_tools/src/jsk_tools/clients/audible_warninig_client.py b/jsk_tools/src/jsk_tools/clients/audible_warninig_client.py
new file mode 100644
index 000000000..0bc575505
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/clients/audible_warninig_client.py
@@ -0,0 +1,18 @@
+from dynamic_reconfigure.client import Client
+
+
+class AudibleWarningReconfigureClient(object):
+
+    def __init__(self, client_name='audible_warning'):
+        super(AudibleWarningReconfigureClient).__init__()
+        self.client_name = client_name
+        self.client = Client(client_name, timeout=3)
+
+    def reconfigure(self, **kwargs):
+        return self.client.update_configuration(kwargs)
+
+    def enable(self):
+        return self.client.update_configuration({'enable': True})
+
+    def disable(self):
+        return self.client.update_configuration({'enable': False})

From 6d3d940297471e0aeb02124a5e5aca47526bb4db Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:35:47 +0900
Subject: [PATCH 43/52] [audible_warning] Make speak_when_runstopped dynamic
 params

---
 jsk_tools/cfg/AudibleWarning.cfg          | 1 +
 jsk_tools/node_scripts/audible_warning.py | 3 +--
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/cfg/AudibleWarning.cfg b/jsk_tools/cfg/AudibleWarning.cfg
index bd1144e44..705682213 100755
--- a/jsk_tools/cfg/AudibleWarning.cfg
+++ b/jsk_tools/cfg/AudibleWarning.cfg
@@ -12,6 +12,7 @@ speak_group.add("speak_ok", bool_t, 0, "Speak ok level diagnostics", False)
 speak_group.add("speak_stale", bool_t, 0, "Speak stale level diagnostics", True)
 speak_group.add("speak_warn", bool_t, 0, "Speak warn level diagnostics", True)
 speak_group.add("speak_error", bool_t, 0, "Speak error level diagnostics", True)
+speak_group.add("speak_when_runstopped", bool_t, 0, "Speak when runstop is enabled", True)
 
 gen.add("volume", double_t, 0, "Volume of sound.", 1.0, 0.0, 1.0)
 gen.add("speak_interval", double_t, 0, "Volume of sound.", 120.0, 0.0, 3600.0)
diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 769ee5b9a..9d33a910a 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -207,8 +207,6 @@ def __init__(self):
         self.srv = Server(Config, self.config_callback)
 
         # run-stop
-        self.speak_when_runstopped = rospy.get_param(
-            '~speak_when_runstopped', True)
         self.run_stop = False
         self.run_stop_topic = rospy.get_param('~run_stop_topic', None)
         if self.run_stop_topic:
@@ -261,6 +259,7 @@ def config_callback(self, config, level):
             config.ignore_time_after_runstop_is_enabled
         self.ignore_time_after_runstop_is_disabled = \
             config.ignore_time_after_runstop_is_disabled
+        self.speak_when_runstopped = config.speak_when_runstopped
         return config
 
     def run_stop_callback(self, msg):

From d38121c756b9614eb0560bfc2792cb8b066a50f4 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:36:37 +0900
Subject: [PATCH 44/52] [audible_warning] Don't add heap at first

---
 jsk_tools/node_scripts/audible_warning.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 9d33a910a..a58f4eeca 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -104,6 +104,12 @@ def set_speak_interval(self, interval):
     def add(self, status_list):
         with self.lock:
             for status in status_list:
+                if is_leaf(status.name) is False:
+                    continue
+                if rospy.Time.now().to_sec() \
+                        - self.previous_spoken_time[status.name] \
+                        < self.speak_interval:
+                    continue
                 heapq.heappush(
                     self.status_list,
                     (rospy.Time.now().to_sec(), status))

From d0c4d4eeb9588f60cba9ed15925e1f3474226e6d Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:36:59 +0900
Subject: [PATCH 45/52] [audible_warning] Deserialize image

---
 jsk_tools/node_scripts/audible_warning.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index a58f4eeca..7d2a34412 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -277,7 +277,7 @@ def run_stop_callback(self, msg):
             deserialized_sub = rospy.Subscriber(
                 self.run_stop_topic, msg_class, self.run_stop_callback)
             self.run_stop_sub = deserialized_sub
-            return
+            msg = msg_class().deserialize(msg._buff)
         tm = rospy.Time.now()
         run_stop = self.run_stop_condition(
             self.run_stop_topic, msg, tm)

From 299832443e4f9760ceb054e42a97aef7fca87389 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:37:34 +0900
Subject: [PATCH 46/52] [audible_warning] Fixed typo by adding ()

---
 jsk_tools/node_scripts/audible_warning.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 7d2a34412..5b23575ee 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -298,13 +298,13 @@ def diag_cb(self, msg):
         if self.ignore_time_after_runstop_is_enabled > 0.0:
             if self.run_stop_enabled_time is not None \
                     and ((rospy.Time.now() -
-                          self.run_stop_enabled_time).to_sec <
+                          self.run_stop_enabled_time).to_sec() <
                          self.ignore_time_after_runstop_is_enabled):
                 return
         if self.ignore_time_after_runstop_is_disabled > 0.0:
             if self.run_stop_disabled_time is not None \
                     and ((rospy.Time.now() -
-                          self.run_stop_disabled_time).to_sec <
+                          self.run_stop_disabled_time).to_sec() <
                          self.ignore_time_after_runstop_is_disabled):
                 return
 

From 890dbc29ebc4db2b7bca433449e1f63905a01ca2 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:38:42 +0900
Subject: [PATCH 47/52] [audible_warning] Add loginfo to display runstop state

---
 jsk_tools/node_scripts/audible_warning.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 5b23575ee..ec048a451 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -283,9 +283,11 @@ def run_stop_callback(self, msg):
             self.run_stop_topic, msg, tm)
         if run_stop != self.run_stop:
             if run_stop is True:
-                self.run_stop_enabled_time = tm
+                self.run_stop_enabled_time = rospy.Time.now()
+                rospy.loginfo('Audible Warning: Runstop is enabled.')
             else:
-                self.run_stop_disabled_time = tm
+                self.run_stop_disabled_time = rospy.Time.now()
+                rospy.loginfo('Audible Warning: Runstop is disabled.')
         self.run_stop = run_stop
 
     def on_shutdown(self):

From 99c6aa941317e3e4e4040ef7249d36fbf036b473 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:39:20 +0900
Subject: [PATCH 48/52] [audible_warning] Add pseudo runstop publisher

---
 jsk_tools/sample/pseudo_runstop_publisher.py  | 41 +++++++++++++++++++
 .../sample/sample_audible_warning.launch      | 14 ++++++-
 2 files changed, 54 insertions(+), 1 deletion(-)
 create mode 100755 jsk_tools/sample/pseudo_runstop_publisher.py

diff --git a/jsk_tools/sample/pseudo_runstop_publisher.py b/jsk_tools/sample/pseudo_runstop_publisher.py
new file mode 100755
index 000000000..7091fc95f
--- /dev/null
+++ b/jsk_tools/sample/pseudo_runstop_publisher.py
@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+
+from distutils.version import LooseVersion as version
+
+import pkg_resources
+import rospy
+import std_msgs.msg
+
+
+class PseudoRunstopPublisher(object):
+
+    def __init__(self):
+        duration_time = rospy.get_param('~duration_time', 30)
+        self.runstop = True
+        self.pub = rospy.Publisher('~runstop', std_msgs.msg.Bool,
+                                   queue_size=1)
+        kwargs = dict(
+            period=rospy.Duration(duration_time),
+            callback=self.publish_callback,
+            oneshot=False,
+        )
+        if version(pkg_resources.get_distribution('rospy').version) \
+                >= version('1.12.0'):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            kwargs['reset'] = True
+        self.timer = rospy.Timer(**kwargs)
+
+    def publish_callback(self, event):
+        if self.runstop is True:
+            rospy.loginfo('Runstop is enabled.')
+        else:
+            rospy.loginfo('Runstop is disabled.')
+        self.pub.publish(self.runstop)
+        self.runstop = not self.runstop
+
+
+if __name__ == '__main__':
+    rospy.init_node('pseudo_runstop_publisher')
+    pub = PseudoRunstopPublisher()
+    rospy.spin()
diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
index 236c97e14..f9fb14ed0 100644
--- a/jsk_tools/sample/sample_audible_warning.launch
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -9,6 +9,14 @@
         output="screen">
   </node>
 
+  <node name="pseudo_runstop_publisher"
+        pkg="jsk_tools" type="pseudo_runstop_publisher.py"
+        output="screen">
+    <rosparam>
+      duration_time: 30
+    </rosparam>
+  </node>
+
   <node name="diagnostic_aggregator"
         pkg="diagnostic_aggregator" type="aggregator_node"
         clear_params="true" >
@@ -27,8 +35,12 @@
         output="screen" >
     <remap from="/robotsound" to="/sound_play" />
     <rosparam>
-      speak_interval: 0
+      run_stop_topic: /pseudo_runstop_publisher/runstop
+      speak_when_runstopped: true
+      speak_interval: 0.0
       seconds_to_start_speaking: 5
+      ignore_time_after_runstop_is_enabled: 10.0
+      ignore_time_after_runstop_is_disabled: 10.0
     </rosparam>
   </node>
 

From 5217806db0f38a778ccc58982c26a4546a06da6d Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 14 Jun 2022 16:02:49 +0900
Subject: [PATCH 49/52] [audible_warning] Add prefix + error name to original
 text

---
 jsk_tools/node_scripts/audible_warning.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index ec048a451..7f1659cbe 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -154,7 +154,7 @@ def run(self):
                 sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
-                self.pub_original_text.publish(e.message)
+                self.pub_original_text.publish(prefix + e.name + ' ' + e.message)
                 self.pub_speak_text.publish(
                     "audible warning talking: %s" % sentence)
 

From 22c96e10028a12710e114a696f065ed74704aea8 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 7 Jul 2022 02:05:18 +0900
Subject: [PATCH 50/52] [jsk_tools/audible_warning] Modified default speak rate
 to speed up.

---
 doc/jsk_tools/scripts/audible_warning.md  | 4 ++--
 jsk_tools/node_scripts/audible_warning.py | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/jsk_tools/scripts/audible_warning.md b/doc/jsk_tools/scripts/audible_warning.md
index 75888827f..72849c0d8 100644
--- a/doc/jsk_tools/scripts/audible_warning.md
+++ b/doc/jsk_tools/scripts/audible_warning.md
@@ -23,9 +23,9 @@ Robots using diagnostics can use this node.
 
 ## Parameter
 
-* `~speak_rate` (`Float`, default: `1.0`)
+* `~speak_rate` (`Float`, default: `1.0 / 100.0`)
 
-    Rate of speak loop.
+    Rate of speak loop. If `~wait_speak` is `True`, wait until a robot finish speaking.
 
 * `~speak_interval` (`Float`, default: `120.0`)
 
diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 7f1659cbe..6da9ef6b5 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -176,7 +176,7 @@ def run(self):
 class AudibleWarning(object):
 
     def __init__(self):
-        speak_rate = rospy.get_param("~speak_rate", 1.0)
+        speak_rate = rospy.get_param("~speak_rate", 1.0 / 100.0)
         wait_speak = rospy.get_param("~wait_speak", True)
         language = rospy.get_param('~language', '')
         seconds_to_start_speaking = rospy.get_param(

From 688ea1e24db3aa5ccc08be0cabfe0d02d6d2df10 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 7 Jul 2022 02:49:32 +0900
Subject: [PATCH 51/52] [jsk_tools/audible_warning] Add space to published
 original text.

---
 jsk_tools/node_scripts/audible_warning.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 6da9ef6b5..4f9cb98dd 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -154,7 +154,7 @@ def run(self):
                 sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
-                self.pub_original_text.publish(prefix + e.name + ' ' + e.message)
+                self.pub_original_text.publish(prefix + ' ' + e.name + ' ' + e.message)
                 self.pub_speak_text.publish(
                     "audible warning talking: %s" % sentence)
 

From 22972c1356df1f0a8efcbeb2ed9b97534fa8908c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 7 Jul 2022 03:04:28 +0900
Subject: [PATCH 52/52] [jsk_tools/audible_warning] Set
 wait_speak_duration_time to wait action server result.

---
 doc/jsk_tools/scripts/audible_warning.md  | 4 ++++
 jsk_tools/node_scripts/audible_warning.py | 4 +++-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/doc/jsk_tools/scripts/audible_warning.md b/doc/jsk_tools/scripts/audible_warning.md
index 72849c0d8..95fb4d3a9 100644
--- a/doc/jsk_tools/scripts/audible_warning.md
+++ b/doc/jsk_tools/scripts/audible_warning.md
@@ -49,6 +49,10 @@ Robots using diagnostics can use this node.
 
     This is useful for ignoring errors that occur when the robot starts.
 
+* `~wait_speak_duration_time` (`Float`, default: `30.0`)
+
+    Waiting time in `robotsound` action.
+
 * `~enable` (`Bool`, default: `True`)
 
     If `True`, speak diagnositcs. If `False`, this node don't speak.
diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 4f9cb98dd..f1bd39845 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -181,6 +181,8 @@ def __init__(self):
         language = rospy.get_param('~language', '')
         seconds_to_start_speaking = rospy.get_param(
             '~seconds_to_start_speaking', 0)
+        wait_speak_duration_time = rospy.get_param(
+            '~wait_speak_duration_time', 30.0)
 
         # Wait until seconds_to_start_speaking the time has passed.
         self.run_stop_enabled_time = None
@@ -209,7 +211,7 @@ def __init__(self):
         self.speak_thread = SpeakThread(
             speak_rate, wait_speak,
             language,
-            wait_speak_duration_time=seconds_to_start_speaking)
+            wait_speak_duration_time=wait_speak_duration_time)
         self.srv = Server(Config, self.config_callback)
 
         # run-stop