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Wrapyfi ROS interfaces

WARNING: These instructions are located in https://github.com/modular-ml/wrapyfi_ros_interfaces

To transmit ROS audio messages with Wrapyfi, you need to compile the ROS interfaces. ROS must already be installed on your system, with all its build dependencies. You can find the installation instructions here or install using Robostack.

Prerequisites

  • ROS Noetic
  • Python 3.6

Installation

We recommend compiling the Wrapyfi ROS interfaces rather than installing them. However, if ROS was installed locally (not within mamba/micromamba), Then the Wrapyfi interfaces can be installed directly using APT ROS Package Index

APT (local Noetic only)

source /opt/ros/noetic/setup.bash
sudo apt update
sudo apt install ros-noetic-wrapyfi-ros-interfaces
# test package: should return the audio message type for ROS
rosmsg show ROSAudioMessage

Compiling

  1. Copy the wrapyfi_ros_interfaces folder to your ROS workspace (assumed to be ~/ros_ws).

    # from the current directory 
cd ../
cp -r wrapyfi_ros_interfaces ~/ros_ws/src

  2. Compile the ROS interfaces:

    cd ~/ros_ws
catkin_make

    Note: If the wrong version of Python is used, the compilation will fail. Make sure that the correct version of cmake is used by modifying the cmake_minimum_required version in the ~/ros_ws/src/wrapyfi_ros_interfaces/CMakeLists.txt file:

    # CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
# ...

    Replacing VERSION 3.0.2 with the correct version of cmake.

  3. Source the ROS workspace:

    source ~/ros_ws/devel/setup.bash

  4. Verify that the ROS Audio message interface is compiled:

    rosmsg show ROSAudioMessage

    Which should output:

    [wrapyfi_ros_interfaces/ROSAudioMessage]:
std_msgs/Header header
 uint32 seq
 time stamp
 string frame_id
uint32 chunk_size
uint8 channels
uint32 sample_rate
string encoding
uint8 is_bigendian
uint32 bitrate
string coding_format
uint32 step
uint8[] data

  5. Verify that the ROS Audio service interface is compiled:

    rossrv show ROSAudioService

    Which should output:

    [wrapyfi_ros_interfaces/ROSAudioService]:
string request
---
wrapyfi_ros_interfaces/ROSAudioMessage response
 std_msgs/Header header
   uint32 seq
   time stamp
   string frame_id
 uint32 chunk_size
 uint8 channels
 uint32 sample_rate
 string encoding
 uint8 is_bigendian
 uint32 bitrate
 string coding_format
 uint32 step
 uint8[] data

    Run your Wrapyfi enabled script from the same terminal. Now you can transmit ROS audio messages in PUB/SUB [example] and REQ/REP [example].