add services for get and set language

[kochigami]

reference: http://doc.aldebaran.com/2-4/naoqi/audio/altexttospeech-api.html#altexttospeech-api
ALTextToSpeechProxy::setLanguage and ALTextToSpeechProxy::getLanguage

requires: ros-naoqi/naoqi_bridge_msgs#32

I tried it with pepper, naoqi 2.5.5.5, ros indigo

roslaunch naoqi_driver naoqi_driver.launch
kochigami@kochigami-ThinkPad-T450:~/catkin_ws/src/naoqi_driver/src/services$ rosservice list | grep lang
/naoqi_driver/get_language
/naoqi_driver/set_language

kochigami@kochigami-ThinkPad-T450:~/catkin_ws/src/naoqi_driver/src/services$ rosservice call /naoqi_driver/set_language "language: 'English'" 
success: True

kochigami@kochigami-ThinkPad-T450:~/catkin_ws/src/naoqi_driver/src/services$ rosservice call /naoqi_driver/get_language "{}" 
language: English

[kochigami]

memo: need to modify this

[kochigami]

memo: need to modify this

[nlyubova]

+1 fine for me. @suryaambrose what do you think?

[nlyubova]

@kochigami can you do a pull request with a data format to nao_interaction?

[kochigami]

• use srv files (add get/set string srv files naoqi_bridge_msgs#38) instead of [srv] add set/get speech language naoqi_bridge_msgs#32

@nlyubova

can you do a pull request with a data format to nao_interaction?

I'm sorry for my late response.
Could you tell me where I should refer to in nao_interaction?
I couldn't find the related function of setting/ getting a language.

[nlyubova]

Looks good for me!
Let's keep them in naoqi_bridge_msgs as it is.

[kochigami]

confirmed with:

• Pepper + indigo
• Pepper + kinetic
• NAO + indigo
• NAO + kinetic

[kochigami]

I found there are some errors when executing it with ros kinetic (both NAO and Pepper).

I will report and update tomorrow.
I'm sorry for lack of information.

[nlyubova]

Thank you so much for testing!
Please keep us updated.

[kochigami]

I'm trying to fix this pull-request, but it may take a long time...
I'm not good at C++. I'm sorry.
My working tree is here:
kochigami#1

problem: rosservice call /naoqi_driver/get_language is not executed correctly.

status:

1. when executing it on kinetic: (069536b)
   rosservice call /naoqi_driver/get_language "{}"
   => ERROR: transport error completing service call: unable to receive data from sender, check sender's logs for details

I found resp.data = helpers::driver::getLanguage(session_, req); in get_language.cpp was never executed and the error above appeared.

2. when executing it on kinetic (kochigami@68fb075)
   rosservice call /naoqi_driver/get_language "{}" returns language name,
   but I found getLanguageLocal function in drivers_helpers.cpp is executed only once.

rosservice call /naoqi_driver/set_language "data: "English"` => pepper speaks English
rosservice call /naoqi_driver/get_language "{}" => English

rosservice call /naoqi_driver/set_language "data: "Japanese"`=> pepper speaks Japanese
rosservice call /naoqi_driver/get_language "{}" => English, This is a problem.

[kochigami]

I modified my pull request as for the problem above.
(not using constand set/getLanguageLocal function)
If there is any problem, please let me know.

I confirmed with:

• Pepper (NAOqi 2.5.5.5) + ros indigo
• Pepper (NAOqi 2.5.5.5) + ros kinetic
• NAO (NAOqi 2.1.4) + ros indigo
• NAO (NAOqi 2.1.4) + ros kinetic

[nlyubova]

Thank you!
Just merged required ros-naoqi/naoqi_bridge_msgs#38