Wrapyfi ROS 2 interfaces

WARNING: These instructions are located in https://github.com/modular-ml/wrapyfi_ros2_interfaces

To run the Wrapyfi ROS 2 services and transmit audio messages, you need to compile the ROS 2 interfaces. ROS 2 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 2 Galactic/Humble
• Python 3.6

Installation

We recommend compiling the Wrapyfi ROS 2 interfaces rather than installing them. However, if ROS 2 was installed locally (not within mamba/micromamba), Then the Wrapyfi interfaces can be installed directly using APT

APT (local Humble only)

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

Compiling

1. Copy the wrapyfi_ros2_interfaces folder to your ROS 2 workspace (assumed to be ~/ros2_ws).

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

1. Compile the ROS 2 interfaces:

    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.

1. Source the ROS 2 workspace:

    source ~/ros2_ws/install/setup.bash
    

1. Verify that the ROS 2 Native object service interface is compiled:

    ros2 interface show wrapyfi_ros2_interfaces/srv/ROS2NativeObjectService
    

Which should output:

    string request
    ---
    string response
    

1. Verify that the ROS 2 Image service interface is compiled:

    ros2 interface show wrapyfi_ros2_interfaces/srv/ROS2ImageService
    

Which should output:

```bash 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

File truncated at 100 lines see the full file