pr2eus: add text-to-spech method to robot-interface

[furushchev]

Also addressed in jsk-ros-pkg/jsk_robot#833

This PR includes:

• Cleanup unused text-to-speech methods
• Add text-to-speech method caller to robot-interface

[furushchev]

Test passed. Confirmed to work on real robot (PR1012, fetch).
Please give a feedback if you have CC: @k-okada @snozawa

[k-okada]

@furushchev does google translate is not working? please also check #263, one idea is to support 'text' argument of ':speak' supports both 'string' and '((:jp . "こんにちは") (:en . "Hello"))'

[furushchev]

@k-okada Thank you very much for feedback!

does google translate is not working?

Not working. Recently google updated their authentication policy to use request with correct header and token but gstreamer (on which sound_play depends) unfortunately does not support this feature.
(We still have alternative method to use google api if we use the package I made several months ago https://github.com/furushchev/ros_gtts. Is it ok to send a pull request to jsk_3rdparty?)

one idea is to support 'text' argument of ':speak' supports both 'string' and '((:jp . "こんにちは") (:en . "Hello"))'

That's a good idea! One possible problem is that we cannot know which language is available at euslisp level.
IMO, having global variable *speak-language* and set one language as its value solves this problem, but I don't think it is elegant so much...

[furushchev]

@k-okada @snozawa Any advice or comment?

[k-okada]

this change may not necessary.

[k-okada]

how about add :(send-speak-msg here and change

(defun speak-jp (text &rest args)
 (warning-message 3 "Function `speak-jp` will be deprecated, please use (send *ri* :speak \"text\" :lang :ja") 
 (send* *ri* :speak text :lang :ja args) ;; this is dangerous, because it assumes *ri*..... is this ok? if not leave current implementation here, just to show warning message" 

[furushchev]

@k-okada Sorry for a late response.
That's indeed a good idea. I updated as followings:

• added warning message for deprecated functions speak-jp and speak-en.
• move text-to-speech into robot-interface
• call robot-interface method :speak-jp internally in speak-jp function. (same for speak-en)
• updated test codes

[k-okada]

confirmed by @708yamaguchi jsk-ros-pkg/jsk_robot#866 (comment)