[jsk_fetch_startup/kitchen] Use notify-recognition in description

Author: tkmtnt7000

jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l

@@ -387,7 +387,8 @@ Args:
       (notify-app "object recognition"
                   (send msg :header :stamp)
                   location
-                  (format nil "~A is found" label-names)))))
+                  (format nil "~A is found" label-names))
+      label-names)))
 
 (defun inspect-kitchen (&key (tweet t))
   (report-move-to-sink-front-success)
@@ -858,9 +859,11 @@ Args:
                  success)))
             (:inspect-kitchen
              '(lambda (userdata)
-               (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
-               (set-alist 'description "キッチンの様子を見たよ" userdata)
-               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
+               (let ((label-names (notify-recognition :location "kitchen"))
+                     (notify-text (if label-names (format nil "~Aがあったよ" label-names) "")))
+                     (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
+                     (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata))
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-sink-front-failure
              '(lambda (userdata)