/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2017-2020, Waterplus http://www.6-robot.com
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*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
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/*!******************************************************************
 @author     ZhangWanjie
 ********************************************************************/

#include <ros/ros.h>
#include <sound_play/SoundRequest.h>

int main(int argc, char** argv)
{
    ros::init(argc, argv, "wpb_home_speak_node");

    ros::NodeHandle n;
    ros::Publisher tts_pub = n.advertise<sound_play::SoundRequest>("/robotsound", 20);
    ros::Rate r(0.2);
    while(n.ok())
    {
        sound_play::SoundRequest sp;
        sp.sound = sound_play::SoundRequest::SAY;
        sp.command = sound_play::SoundRequest::PLAY_ONCE;
        //sp.volume = 1.0;      //在kinetic版本ROS(Ubuntu16.04)中,需要这句赋值才能发声
        sp.arg = "hello world";
        tts_pub.publish(sp);
        ros::spinOnce();
        r.sleep();
    }
    return 0;
}