QRB ROS Audio Common

Overview

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

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.

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

3. Clone this repository 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.

1. 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

2. Run with command

1. Playback Action:

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 Action

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.

Packages

• qrb_audio_common_lib
  • Overview
  • Data Struct
  • API
• qrb_ros_audio_common
  • Overview
  • Load node
  • Client usesage

Supported Platforms

This package is designed and tested to be compatible with ROS 2 Humble running on Qualcomm RB3 gen2.

Hardware	Software
Qualcomm RB3 gen2	LE.QCROBOTICS.1.0

Updates

Date	Changes
2024-8-21	Add Build in QCLINUX SDK