festivalがインストールされていないのでロボットが喋らない

[a-ichikura]

helloとunitreeに喋ってもらいたいのですが、以下のエラーが出て喋りませんでした。

[rosout][ERROR] 2022-06-16 01:43:36,164: Sound synthesis failed. Is festival installed? Is a festival voice installed? Try running "rosdep satisfy sound_play|sh". Refer to http://wiki.ros.org/sound_play/Troubleshooting
[rosout][ERROR] 2022-06-16 01:43:36,209: Exception in actionlib callback: 'NoneType' object has no attribute 'command'
[rosout][INFO] 2022-06-16 01:43:36,254: Traceback (most recent call last):
  File "/opt/jsk/System/ros1_inst/lib/sound_play/soundplay_node.py", line 396, in execute_cb
    sound.command(data.command)
AttributeError: 'NoneType' object has no attribute 'command'

cc: @iory @tkmtnt7000