Audio API

Control the robot to play audio and change the audio that needs to be played

This part have to use ROS2 action

Action：interaction/audio_play

Msg Type：tita_interaction_msgs/action/AudioPlay

Code Example：ros2 action send_goal /[namespace]/interaction/audio_play tita_interaction_msgs/action/AudioPlay '{url: "/tmp/gpt_2024-02-02-17-05-50.wav"}'

How to change language:
vim /usr/share/tita_bringup/params/default_param.yaml
interaction_manager->language
0: Chinese
1: English