QRB ROS Audio Common

qrb_ros_audio_common is a package to provide two ros action for playback and capture.

Overview

Provide two ROS node for playback and capture. Two node support set audio parameter(volume, channels, sample_format, rate, repeat) to specify stream format. Provide interface(ros2 communication) to Transfer audio data between ROS node. For Playback, can receive PCM data or file path from other ROS node, then playback to Speaker For Capture, can get PCM data from Mic, then send PCM data to other ROS node or save to file

Build

Currently, we only support use QCLINUX to build

1. Setup environments follow this document 's Set up the cross-compile environment. part

2. Create ros_ws directory in <qirp_decompressed_workspace>/qirp-sdk/

3. Clone this repository and qrb_ros_interfaces under <qirp_decompressed_workspace>/qirp-sdk/ros_ws

   git clone https://github.com/quic-qrb-ros/qrb_ros_audio_common.git
   git clone https://github.com/quic-qrb-ros/qrb_ros_interfaces.git

4. Build this project

   export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
   export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
   
   colcon build --merge-install --cmake-args \
     -DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
     -DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
     -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
     -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
     -DBUILD_TESTING=OFF

5. Push to the device & Install

   cd `<qirp_decompressed_workspace>/qirp-sdk/ros_ws/install`
   tar czvf qrb_ros_audio.tar.gz lib share
   scp qrb_ros_audio.tar.gz root@[ip-addr]:/opt/
   ssh root@[ip-addr]
   (ssh) tar -zxf /opt/qrb_ros_audio.tar.gz -C /opt/qcom/qirp-sdk/usr/

Run

This package supports running it from ros launch file or directly running it from command.

a.Run with launch file

1. Source this file to set up the environment on your device:

   ssh root@[ip-addr]
   (ssh) export HOME=/opt
   (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
   (ssh) export ROS_DOMAIN_ID=xx
   (ssh) source /usr/bin/ros_setup.bash

2. Use this launch file to run this package

   (ssh) ros2 launch qrb_ros_audio_common component.launch.py

b. Run with command

1. Playback:

   ros2 run qrb_ros_audio_common audio_common_node_exec --ros-args -p Stream_type:="playback" -p action_name:="ros_audio_playback" -p topic_name:="ros_audio_data"

2. Capture:

   ros2 run qrb_ros_audio_common audio_common_node_exec --ros-args -p Stream_type:="capture" -p action_name:="ros_audio_capture" -p topic_name:="ros_audio_data"

After launch with component.launch.py, will start two action ros_audio_playback and ros_audio_capture. For audio stream operate, refer to qrb_ros_audio_common/qrb_ros_audio_common_msgs.

open stream, for record need pass audio_info, for playback audio_info only need pass on pub PCM case.

a. Playback/Capture from/to file.

ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
audio_info: {
    channels: 2,
    sample_rate: 48000,
    sample_format: 16
  },
  command: 'open',
  volume: 100,
  file_path: '/tmp/xxx.wav',
  repeat: 1
}"

b. Playback/Capture from/to a topic.

ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
audio_info: {
    channels: 2,
    sample_rate: 48000,
    sample_format: 16
  },
    command: 'open',
    volume: 100,
    topic_name: "pcm_topic",
    pub_pcm: true,
}"

open command will return a stream handle.

stop/mute/stop/close stream

ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
  command: "start",
  stream_handle: <stream_handle>,
}"

ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
  command: "mute",
  mute: "true",
  stream_handle: <stream_handle>,
}"

ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
  command: "stop",
  stream_handle: <stream_handle>,
}"

ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
  command: "close",
  stream_handle: <stream_handle>,
}"

Packages

Will update in the future.

Resources

Contributions

Thanks for your interest in contributing to qrb_ros_audio_common! Please read our Contributions Page for more information on contributing features or bug fixes. We look forward to your participation!

License

qrb_ros_audio_common is licensed under the BSD-3-clause "New" or "Revised" License.

Check out the LICENSE for more details.