send-speak-msg msg &key (topic-name robotsound) (timeout speak-timeout) (wait speak-wait)
speak-google str &key (lang :ja) (wait speak-wait) (topic-name robotsound) (timeout speak-timeout)
speak-jp str &key google (wait speak-wait) (topic-name robotsound_jp) (timeout speak-timeout)
speak-en str &key google (wait speak-wait) (topic-name robotsound) (timeout speak-timeout)