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[jsk_pr2_startup] Disable cable connector warning #1935

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Merged
k-okada merged 2 commits into from
Mar 19, 2025
Merged

[jsk_pr2_startup] Disable cable connector warning #1935

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ed5e3c2
Revert "[jsk_pr2_startup] Update to a non-function implementation of …
Kanazawanaoaki Mar 10, 2025
0b4b4ab
Revert "[jsk_pr2_startup] Add cable connector check warning"
Kanazawanaoaki Mar 10, 2025
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18 changes: 0 additions & 18 deletions jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_warning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,8 +23,6 @@ def __init__(self):
# speak
self.speak_client = actionlib.SimpleActionClient(
"/robotsound_jp", SoundRequestAction)
self.sound_client = actionlib.SimpleActionClient(
"/robotsound", SoundRequestAction)
ok = self.speak_client.wait_for_server(rospy.Duration(10))
if not ok:
rospy.logfatal("Action /robotsound_jp is not advertised")
Expand All @@ -33,7 +31,6 @@ def __init__(self):
# param
self.monitor_rate = rospy.get_param("~monitor_rate", 4)
self.warning_temp = rospy.get_param("~warning_temperature", 42.0)
self.cable_warning_temp = rospy.get_param("~cable_warning_temperature", 44.0)
self.min_capacity = rospy.get_param("~min_capacity", 800)
self.warning_voltage = rospy.get_param("~warning_voltage", 14.0)
self.critical_voltage = rospy.get_param("~critical_voltage", 13.7)
Expand All @@ -44,7 +41,6 @@ def __init__(self):
self.prev_plugged_in = None
self.latest_status = None
self.speech_history = defaultdict(lambda: rospy.Time(0))
self.sound_history = defaultdict(lambda: rospy.Time(0))

self.diag_sub = rospy.Subscriber(
"/diagnostics_agg", DiagnosticArray, self.diag_cb, queue_size=1)
Expand Down Expand Up @@ -98,20 +94,6 @@ def stat_cb(self, event):
rospy.logdebug("temperature: %s" % max_temp)
if 60 > max_temp > self.warning_temp:
self.speak("バッテリ温度%.1f度。暑いです。部屋の温度を下げてください。" % max_temp)
if max_temp > self.cable_warning_temp:
# play sound 2 (kan kan)
key = 2
if not self.sound_history[key] + rospy.Duration(self.warn_repeat_rate) > rospy.Time.now():
self.sound_history[key] = rospy.Time.now()
sound_req = SoundRequest()
sound_req.sound = 2 # kan kan
sound_req.command = SoundRequest.PLAY_ONCE # 1: PLAY_ONCE
sound_req.volume = 1.0 # Volume（0.0〜1.0）
sound_req.arg = ''
sound_req.arg2 = ''
self.sound_client.send_goal(SoundRequestGoal(sound_request=sound_req))
self.sound_client.wait_for_result(timeout=rospy.Duration(10))
self.speak("危険な温度です。電源ケーブルのコネクタを確認して下さい。")
except KeyError:
pass
except ValueError:
Expand Down
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