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[dialogflow_task_executive] add volume param in dialogflow_client #309

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knorth55 wants to merge 2 commits into from
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[dialogflow_task_executive] add volume param in dialogflow_client #309

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e40f50a
add volume param in dialogflow_client
knorth55 Dec 24, 2021
24bfef7
Merge branch 'master' into add-volume-param
knorth55 Dec 27, 2021
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4 changes: 3 additions & 1 deletion dialogflow_task_executive/node_scripts/dialogflow_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@ def __init__(self):

# use TTS feature
self.use_tts = rospy.get_param("~use_tts", True)
self.volume = rospy.get_param('~volume', 1.0)

# timeout for voice input activation by hotword
self.timeout = rospy.get_param("~timeout", 10.0)
Expand Down Expand Up @@ -181,9 +182,10 @@ def speak_result(self, result):
msg = SoundRequest(
command=SoundRequest.PLAY_ONCE,
sound=SoundRequest.SAY,
volume=1.0,
volume=self.volume,
arg=result.fulfillment_text.encode('utf-8'),
arg2=self.language)

self.sound_action.send_goal_and_wait(
SoundRequestGoal(sound_request=msg),
rospy.Duration(10.0))
Expand Down