From f1b51c23ca6c8cca0197e7e91a586b496c280d7b Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Fri, 10 Jan 2025 01:30:06 +0000
Subject: [PATCH 1/2] [strelka] enable launch audio related nodes

---
 .../launch/include/driver.launch              | 22 +++++++++++++------
 1 file changed, 15 insertions(+), 7 deletions(-)

diff --git a/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch b/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
index 6da02babdd..22e78d329e 100644
--- a/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
+++ b/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
@@ -85,6 +85,15 @@
   </node>
 
   <!-- Sound/Camera -->
+  <!-- speech recognition -->
+  <group ns="head">
+    <include file="$(find ros_speech_recognition)/launch/speech_recognition.launch">
+      <arg name="device" value="hw:Device,0" />
+      <arg name="language" value="ja-JP" />
+      <arg name="launch_sound_play" value="false" />
+      <arg name="sample_rate" value="44100" />
+    </include>
+  </group>
 
   <!-- republish compressed image -->
   <node pkg="image_transport" type="republish" name="hand_color_compress"
@@ -108,20 +117,19 @@
   <!-- see: https://github.com/jsk-ros-pkg/jsk_robot/pull/1140 -->
   <node name="sound_play" pkg="sound_play" type="soundplay_node.py"
         respawn="true" if="$(arg launch_sound_play)" >
-    <param name="device" value="hw:0,0" />
+    <param name="device" value="hw:UC,0" />
   </node>
 
-
   <!-- japanese speech node -->
   <include if="$(arg use_voice_text)" file="$(find voice_text)/launch/voice_text.launch">
     <arg name="launch_sound_play" value="$(arg launch_sound_play)" />
     <arg name="sound_play_respawn" value="true" />
   </include>
-  <include unless="$(arg use_voice_text)" file="$(find aques_talk)/launch/aques_talk.launch">
-    <arg name="launch_sound_play" value="$(arg launch_sound_play)" />
-    <arg name="sound_play_respawn" value="true" />
-  </include>
-
+  <!-- <include unless="$(arg use_voice_text)" file="$(find aques_talk)/launch/aques_talk.launch"> -->
+  <!--   <arg name="launch_sound_play" value="$(arg launch_sound_play)" /> -->
+  <!--   <arg name="sound_play_respawn" value="true" /> -->
+  <!-- </include> -->
+  
   <!-- Notifier/Visualization -->
 
   <!-- <node -->

From 2e5ecbd1d7c8c04b3b0670aee7165bf446d49c43 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Thu, 16 Jan 2025 09:36:30 +0900
Subject: [PATCH 2/2] [strelka] add option to launch sound_play_jp

---
 .../launch/include/driver.launch              | 19 +++++++++++--------
 .../launch/jsk_spot_bringup.launch            |  1 +
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch b/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
index 22e78d329e..14f94a414a 100644
--- a/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
+++ b/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
@@ -2,6 +2,7 @@
   <arg name="credential_config" default="/var/lib/robot/credentials/spot_credential.yaml" />
   <arg name="launch_robot_state_publisher" default="true" />
   <arg name="launch_sound_play" default="true" />
+  <arg name="launch_sound_play_jp" default="true" />
 
   <arg name="use_voice_text" default="false" doc="voice_text needs license" />
   <arg name="use_app_manager" default="true" />
@@ -121,14 +122,16 @@
   </node>
 
   <!-- japanese speech node -->
-  <include if="$(arg use_voice_text)" file="$(find voice_text)/launch/voice_text.launch">
-    <arg name="launch_sound_play" value="$(arg launch_sound_play)" />
-    <arg name="sound_play_respawn" value="true" />
-  </include>
-  <!-- <include unless="$(arg use_voice_text)" file="$(find aques_talk)/launch/aques_talk.launch"> -->
-  <!--   <arg name="launch_sound_play" value="$(arg launch_sound_play)" /> -->
-  <!--   <arg name="sound_play_respawn" value="true" /> -->
-  <!-- </include> -->
+  <group if="$(arg launch_sound_play_jp)" >
+    <include if="$(arg use_voice_text)" file="$(find voice_text)/launch/voice_text.launch">
+      <arg name="launch_sound_play" value="$(arg launch_sound_play)" />
+      <arg name="sound_play_respawn" value="true" />
+    </include>
+    <include unless="$(arg use_voice_text)" file="$(find aques_talk)/launch/aques_talk.launch">
+      <arg name="launch_sound_play" value="$(arg launch_sound_play)" />
+      <arg name="sound_play_respawn" value="true" />
+    </include>
+  </group>
   
   <!-- Notifier/Visualization -->
 
diff --git a/jsk_spot_robot/jsk_spot_startup/launch/jsk_spot_bringup.launch b/jsk_spot_robot/jsk_spot_startup/launch/jsk_spot_bringup.launch
index 0b484ff7d9..787fab8e28 100644
--- a/jsk_spot_robot/jsk_spot_startup/launch/jsk_spot_bringup.launch
+++ b/jsk_spot_robot/jsk_spot_startup/launch/jsk_spot_bringup.launch
@@ -4,6 +4,7 @@
   <arg name="launch_peripheral" default="false" />
   <arg name="launch_interaction" default="false" />
   <arg name="launch_switchbot_ros" default="false" />
+  <arg name="launch_sound_play_jp" default="true" />
 
   <arg name="use_driver" default="true" />
   <arg name="use_app_manager" default="true" />