pr2eus: partially revert speak function

[furushchev]

This pull request reverts #318 + integrate TTS methods to robot-interface

[k-okada]

This is because my comment at #318 (review) which calls (send *ri* :speak) within (sepak-jp) was very bad idea, because all simple node such as warning tools requires *ri*.

[k-okada]

/home/travis/ros/ws_jsk_pr2eus/devel/share/pr2eus_tutorials/cmake/pr2eus_tutorialsConfig-version.cmake)
Linked: (/home/travis/ros/ws_jsk_pr2eus/devel/.private/pr2eus_tutorials/share/pr2eus_tutorials/cmake/pr2eus_tutorialsConfig.cmake, /home/travis/ros/ws_jsk_pr2eus/devel/share/pr2eus_tutorials/cmake/pr2eus_tutorialsConfig.cmake)
Linked: (/home/travis/ros/ws_jsk_pr2eus/devel/.private/pr2eus_tutorials/lib/pkgconfig/pr2eus_tutorials.pc, /home/travis/ros/ws_jsk_pr2eus/devel/lib/pkgconfig/pr2eus_tutorials.pc)
Finished <<< pr2eus_tutorials                [ 0.1 seconds ]
[build] Summary: All 3 packages succeeded!
[build] Ignored: None.
[build] Warnings: 2 packages succeeded with warnings.
[build] Abandoned: No packages were abandoned.
[build] Failed: No packages failed.
[build] Runtime: 17 minutes and 38.4 seconds total.
bash: line 1: 12627 Terminated              travis_jigger $! $timeout $cmd
++ return 0
++ catkin_test_results --verbose --all build
Full test results for 'pr2eus/test_results/pr2eus/rosunit-speak_test_node.xml'
-------------------------------------------------
<testsuite tests="4" failures="2" disabled="0" errors="0" time="20" name="AllTests">
  <testcase name="all-test" status="run" time="0" classname="all-test">
  </testcase>
  <testcase name="test-speak-en" status="run" time="10" classname="test-speak-en">
   <failure message="" type="AssertionError">
Test:(speak-en "hello, world" :wait t)
Trace:"^[0mmstart testing [test-speak-en]
jsk_pr2eus/build/pr2eus/test_results/pr2eus/rosunit-speak_test_node.xml
?"
Message:""
   </failure>
  </testcase>
  <testcase name="test-speak-jp" status="run" time="0" classname="test-speak-jp">
  </testcase>
  <testcase name="test-ri-speak-en" status="run" time="10" classname="test-ri-speak-en">
   <failure message="" type="AssertionError">
Test:(send *ri* :speak-en "hello, world" :wait t)
Trace:"^[0mmstart testing [test-ri-speak-en]
xml
?).^[0m
failed ... ( ^[0mmstart testing [test-speak-en]
jsk_pr2eus/build/pr2eus/test_r"
Message:""
   </failure>
  </testcase>
  <testcase name="test-ri-speak-jp" status="run" time="0" classname="test-ri-speak-jp">
  </testcase>
</testsuite>

[furushchev]

Closed via #332