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
   

2. 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.

3. Source the ROS 2 workspace:

   source ~/ros2_ws/install/setup.bash

4. 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

5. 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
   

6. 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], and transmit ROS 2 audio messages [example].