Wrapyfi ROS interfaces

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

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

    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.

    source ~/ros_ws/devel/setup.bash

    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

    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 [\[example\]](https://wrapyfi.readthedocs.io/en/latest/examples/examples.sensors.html#module-examples.sensors.cam_mic) and REQ/REP [\[example\]](https://wrapyfi.readthedocs.io/en/latest/examples/examples.communication_patterns.html#module-examples.communication_patterns.request_reply_example).