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

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].