Wrapyfi ROS 2 interfaces

source /opt/ros/humble/setup.bash
sudo apt update
sudo apt install ros-humble-wrapyfi-ros2-interfaces
# test package: should return the service message types for ROS 2 Native objects
ros2 interface show wrapyfi_ros2_interfaces/srv/ROS2NativeObjectService

    # from the current directory 
    cd ../
    cp -r wrapyfi_ros2_interfaces ~/ros2_ws/src

    cd ~/ros2_ws
    colcon build --packages-select wrapyfi_ros2_interfaces

**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 `~/ros2_ws/src/wrapyfi_ros2_interfaces/CMakeLists.txt` file:

    # CMakeLists.txt
    cmake_minimum_required(VERSION 3.5)
    # ...

Replacing VERSION 3.5 with the correct version of cmake.

    source ~/ros2_ws/install/setup.bash

    ros2 interface show wrapyfi_ros2_interfaces/srv/ROS2NativeObjectService

Which should output:

    string request
    ---
    string response

    ros2 interface show wrapyfi_ros2_interfaces/srv/ROS2ImageService

Which should output:

    string request
    ---
    sensor_msgs/Image response
        std_msgs/Header header
            builtin_interfaces/Time stamp
                int32 sec
                uint32 nanosec
            string frame_id
                                     # Header frame_id should be optical frame of camera
                                     # origin of frame should be optical center of cameara
                                     # +x should point to the right in the image
                                     # +y should point down in the image
                                     # +z should point into to plane of the image
                                     # If the frame_id here and the frame_id of the CameraInfo
                                     # message associated with the image conflict
                                     # the behavior is undefined
        uint32 height
        uint32 width
        string encoding
                              # taken from the list of strings in include/sensor_msgs/image_encodings.hpp
        uint8 is_bigendian
        uint32 step
        uint8[] data

    ros2 interface show wrapyfi_ros2_interfaces/srv/ROS2AudioService

Which should output:

   string request
   ---
   wrapyfi_ros2_interfaces/ROS2AudioMessage response
       std_msgs/Header header
           builtin_interfaces/Time stamp
               int32 sec
               uint32 nanosec
           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 use the REQ/REP pattern (server/client) in Wrapyfi [\[example\]](https://wrapyfi.readthedocs.io/en/latest/examples/examples.communication_patterns.html#module-examples.communication_patterns.request_reply_example), and transmit ROS 2 audio messages [\[example\]](https://wrapyfi.readthedocs.io/en/latest/examples/examples.sensors.html#module-examples.sensors.cam_mic).