1.txt

こんにちは
私はペッパーです

2.txt

今日は東京大学からやってきました

3.txt

とても楽しかったです．
また，あいましょう．

speech_from_file.l

#!/usr/bin/env roseus

(ros::roseus "speech_from_file")
(ros::advertise "/speech" std_msgs::string 1)
(unix::sleep 1) ;; wait for subscriber,

(dolist (file '("1.txt" "2.txt" "3.txt"))
  (format t ";; Read ~A~%" file)
  (with-open-file
   (f file :direction :input)
   (let (buf (contents ""))
     (while (setq buf (read-line f nil nil))
       (setq contents (concatenate string contents buf)))
     (format t ";; <~A>~%" contents)
     (ros::publish "/speech" (instance std_msgs::String :data contents))
     (ros::spin-once)
     (unix::sleep (max (/ (length contents) 12) 3))
   )))
(exit)