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
    
    

1. 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.

1. Source the ROS workspace:

    source ~/ros_ws/devel/setup.bash
    

1. 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
    
    

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

    rossrv show ROSAudioService
    

Which should output:

File truncated at 100 lines see the full file