added conditional Say class using print only.

skills/src/lasr_skills/__init__.py

@@ -2,7 +2,7 @@
 from .detect_3d import Detect3D
 from .detect_3d_in_area import Detect3DInArea
 from .wait_for_person import WaitForPerson
-from .say import Say
+from .say import Say, PrintSay
 from .wait_for_person_in_area import WaitForPersonInArea
 from .describe_people import DescribePeople
 from .look_to_point import LookToPoint

skills/src/lasr_skills/describe_people.py

@@ -5,7 +5,10 @@
 import smach
 import cv2_img
 import numpy as np
-from lasr_skills import Say
+if "tiago" in os.environ["ROS_MASTER_URI"]:
+    from lasr_skills import Say 
+else: 
+    from lasr_skills import PrintSay as Say 
 from lasr_vision_msgs.srv import (
     YoloDetection,
     BodyPixMaskDetection,

skills/src/lasr_skills/say.py

@@ -1,4 +1,5 @@
 import smach_ros
+import rospy
 
 from pal_interaction_msgs.msg import TtsGoal, TtsAction, TtsText
 
@@ -43,3 +44,11 @@ def __init__(
                 ),
                 input_keys=["text"],
             )
+
+
+class PrintSay(object):
+    def __init__(
+        self, text: Union[str, None] = None, format_str: Union[str, None] = None
+    ):
+        if text is not None:
+            rospy.loginfo(text)