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QRB ROS Audio Service

Overview

The ROS package provides essential audio capabilities, it is the entry point for ROS to provide audio capabilities.

It supports both step-by-step and one-touch playback, allowing playback from built-in sounds. Additionally, it offers recording functionality, with the option to save to a local file or a topic.

Playback and record capabilities depend on qrb_ros_audio_common.

Build

Use QIRP SDK to build.

  1. Build and install QIRP SDK follow qirp-sdk-workflows or Quick start (using the prebuild package)

  2. Setup environments follow Set up the cross-compile environment

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

  4. Put qrb_audio_manager, qrb_ros_audio_service, qrb_ros_audio_service_msgs and qrb_ros_audio_common_msgs packages under <qirp_decompressed_workspace>/qirp-sdk/ros_ws

    qrb_audio_manager and qrb_ros_audio_service in qrb_ros_audio_service:

    git clone https://github.qualcomm.com/QUIC-QRB-ROS/qrb_ros_audio_service.git

    qrb_ros_audio_service_msgs and qrb_ros_audio_common_msgs in qrb_ros_interfaces:

    git clone https://github.qualcomm.com/QUIC-QRB-ROS/qrb_ros_interfaces.git

  5. 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

  6. 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]
tar -zxf /opt/qrb_ros_audio.tar.gz -C /opt/qcom/qirp-sdk/usr/

Run

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

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

  2. Use this launch file to run this package

    ros2 launch qrb_ros_audio_service audio_service.launch.py

  3. Run qrb_ros_audio_common on another ssh terminal

  4. Run below test cases on third ssh terminal

    stream_handle indicate the stream created by Audio Service when command is "create". The value can be found on third ssh terminal: if use "ROS Command": stream_handle=*** if use "Python Script": command create success 1 stream_handle ***

    Test Case Using ROS Command Using Python Script
    Get build-in sound names mkdir -p /opt/qcom/qirp-sdk/usr/share/qrb-audio-manager/sounds
    chmod 0755 /opt/qcom/qirp-sdk/usr/share/qrb-audio-manager -R
    adb push clip.wav /opt/qcom/qirp-sdk/usr/share/qrb-audio-manager/sounds
    chmod 0644 /opt/qcom/qirp-sdk/usr/share/qrb-audio-manager/sounds/*

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "get-buildin-sound"
    }"    		 python3 audio_service_test.py --get-buildin-sound
    One-touch playback ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "play",
    source: "clip",
    volume: 100,
    }"    		 python3 audio_service_test.py --mode='one-touch' --source='security' --volume=100
    One-touch playback and repeat ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "play",
    source: "clip",
    volume: 100,
    repeat: -1,
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "stop",
    stream_handle: 3520332881,
    }"    		 python3 audio_service_test.py --mode='one-touch' --source='security' --volume=100 --repeat=-1
    Step-by-step playback ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    type: "playback",
    command: "create",
    source: "/tmp/music.wav",
    volume: 100,
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "start",
    stream_handle: 2551300426,
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "mute",
    mute: true,
    stream_handle: 2551300426,
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "mute",
    mute: false,
    stream_handle: 2551300426,
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "stop",
    stream_handle: 2551300426,
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "release",
    stream_handle: 2551300426,
    }"    		 python3 audio_service_test.py --type='playback' --source='/tmp/yesterday_48KHz.wav' --volume=100

    python3 audio_service_test.py --set-mute --mute=True --stream_handle=2124364840

    python3 audio_service_test.py --set-mute --mute=False --stream_handle=2124364840
    Step-by-step record ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    audio_info: {
    channels: 1,
    sample_rate: 16000,
    sample_format: 16,
    },
    type: "record",
    command: "create",
    source: "/tmp/rec.wav",
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "start",
    stream_handle: 1502099078,
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "stop",
    stream_handle: 1502099078,
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "release",
    stream_handle: 1502099078,
    }"    		 python3 audio_service_test.py --type='record' --source='/tmp/rec.wav' --channels=1 --sample_rate=16000 --sample_format=16
    Publish recording data publish recording data to /qrb_audiodata:
    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    audio_info: {
    channels: 1,
    sample_rate: 16000,
    sample_format: 16,
    },
    type: "record",
    command: "create",
    pub_pcm: true,
    }"

    publish recording data to /qrb_audiodata. meanwhile, save it to file:
    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    audio_info: {
    channels: 1,
    sample_rate: 16000,
    sample_format: 16,
    },
    type: "record",
    command: "create",
    pub_pcm: true,
    source: "/tmp/rec.wav",
    }"

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{command: "start",
    stream_handle: 806639317,
    }"
    ros2 topic echo /qrb_audiodata

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "stop",
    stream_handle: 806639317,
    }"


    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{
    command: "release",
    stream_handle: 806639317,
    }"    		 python3 audio_service_test.py --type='record' --source='/tmp/rec.wav' --channels=1 --sample_rate=16000 --sample_format=16 --pub_pcm=True

    ros2 topic echo /qrb_audiodata

License

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

Check out the LICENSE for more details.