/skill/say

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/skill/say Quick Facts

Category

💬 Communication

Message type

communication_skills/action/Say

Speak out the provided input text (also executing any additional markup action). See say for details.

SERVER

• communication_hub

Quick snippets

Send a goal from the command-line

$ ros2 action send_goal /skill/say communication_skills/action/Say # press Tab to complete the message prototype

How to use in your code

PythonC++

Call the action from a Python script

#!/usr/bin/env python

import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node

from communication_skills.action import Say

class SayActionClient(Node):

    def __init__(self):
        super().__init__('skill_say_client')
        self._action_client = ActionClient(self, Say, '/skill/say')

    def send_goal(self, a, b):
        goal_msg = Say.Goal()

        # TODO: adapt to the action's parameters
        # check https://github.com/pal-robotics/communication_skills/tree/main/action/Say.action
        # for the possible goal parameters
        # goal_msg.a = a
        # goal_msg.b = b

        self._action_client.wait_for_server()

        return self._action_client.send_goal_async(goal_msg)

if __name__ == '__main__':
    rclpy.init(args=args)

    action_client = SayActionClient()

    # TODO: adapt to your action's parameters
    future = action_client.send_goal(a, b)

    rclpy.spin_until_future_complete(action_client, future)

    rclpy.shutdown()