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wrapyfi_ros2_interfaces repository

wrapyfi_ros2_interfaces

Repository Summary

Description ROS2 messages and services for Wrapyfi
Checkout URI https://github.com/modular-ml/wrapyfi_ros2_interfaces.git
VCS Type git
VCS Version master
Last Updated 2024-01-30
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
wrapyfi_ros2_interfaces 0.4.30

README

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 ROS Package Index

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:

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

CONTRIBUTING

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