Introduction

This package provides a music audio file playback service. The main interface is described in the “mini_pupper_interfaces” package. For more details, please refer to the “PlayMusic.srv” and “StopMusic.srv” files. This package is used by “mini_pupper_dance” to play a song during a dance.

Please note that the audio files should be placed in the “audio” folder of the package, alongside files like “robot1.mp3” and “robot1.wav”. If you add a new file, you will need to rebuild the package for it to work properly.

Quick Guide

1. First of all, please start the music service in the Mini Pupper.

ros2 launch mini_pupper_music music.launch.py

1. You can call the service in another terminal using the following commands:

# To play the music
ros2 service call /play_music mini_pupper_interfaces/srv/PlayMusic "{file_name: 'robot1.mp3', start_second: 3}"

# To stop the music
ros2 service call /stop_music mini_pupper_interfaces/srv/StopMusic