can switch between autoimitation and voice mode

script/fall_detector.py

@@ -1,6 +1,5 @@
 #! /usr/bin/env python
 import os
-from time import sleep
 
 import rospy
 from naoqi import ALProxy, ALBroker, ALModule
@@ -11,6 +10,7 @@ from controller import inform_controller_factory
 fall_broker = None
 almem = None
 
+
 _inform_controller = inform_controller_factory('fall_detector')
 
 
@@ -27,12 +27,12 @@ class FallDetectorModule(ALModule):
         if not _inform_controller('fallen'):
             return
         self.mp.rest()
-        sleep(2)
+        rospy.Rate(0.5).sleep()
         self.mp.wakeUp()
         pp = ALProxy('ALRobotPosture')
         while not pp.goToPosture('StandInit', 1.0):
             pass
-        sleep(1)
+        rospy.Rate(1).sleep()
         _inform_controller('recovered')
 
 
@@ -51,6 +51,6 @@ if __name__ == "__main__":
                            "on_robot_fallen")
 
     while not rospy.is_shutdown():
-        sleep(0.1)
+        rospy.Rate(10).sleep()
 
     fall_broker.shutdown()