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 with the steps in qirp-sdk-workflows or Quick start (using the prebuild package).

  2. Set up environments with the steps in Set up the cross-compile environment.

  3. Create the 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 and Install.

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

    ros2 launch qrb_ros_audio_service audio_service.launch.py

  3. Run qrb_ros_audio_common on another ssh terminal.

  4. Run test cases on a 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, }”

    The playback will be stopped and released automatically after end of file. Or stop it before end of file:

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ command: “stop”, stream_handle: 3520332881, }”

    Note: One-touch playback will be released after stopping successful.

    python3 audio_service_test.py –mode=’one-touch’ –source=’security’ –volume=100

    “Ctrl+C” audio_service_test.py.

    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

    “Ctrl+C” audio_service_test.py.

    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

    “Ctrl+C” audio_service_test.py.

    Streaming playback

    Firstly, create and start a streaming playback, it subscribes audio pcm data from topic “loopback”:

    step-by-step streaming playback:

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ audio_info: { channels: 1, sample_rate: 16000, sample_format: 16, }, type: “playback”, command: “create”, volume: 100, topic_name: “loopback”, }”

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ command: “start”, stream_handle: 1246004764, }”

    one-touch streaming playback:

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ audio_info: { channels: 1, sample_rate: 16000, sample_format: 16, }, command: “play”, volume: 100, topic_name: “loopback”, }”

    Secondly, create and start a step-by-step record, it publishes audio pcm data to topic “loopback”:

    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, topic_name: “loopback”, }”

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ command: “start”, stream_handle: 2681124530, }”

    Stop and release playback:

    for step-by-step streaming playback:

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ command: “stop”, stream_handle: 1246004764, }”

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ command: “release”, stream_handle: 1246004764, }”

    for one-touch streaming playback:

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ command: “stop”, stream_handle: 1246004764, }”

    Stop and release step-by-step record:

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ command: “stop”, stream_handle: 2681124530, }”

    ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest “{ command: “release”, stream_handle: 2681124530, }”

    step-by-step streaming playback:

    python3 audio_service_test.py –type=’playback’ –channels=1 –sample_rate=16000 –sample_format=16 –pub_pcm=True –volume=100 –topic_name=’loopback’

    one-touch streaming playback:

    python3 audio_service_test.py –mode=’one-touch’ –channels=1 –sample_rate=16000 –sample_format=16 –pub_pcm=True –volume=100 –topic_name=’loopback’

    python3 audio_service_test.py –type=’record’ –channels=1 –sample_rate=16000 –sample_format=16 –pub_pcm=True –topic_name=’loopback’

    “Ctrl+C” playback audio_service_test.py.

    “Ctrl+C” record audio_service_test.py.

    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

    “Ctrl+C” audio_service_test.py.

    Publish recording data

    publish recording data to a topic (default topic name is “qrb_audiodata”, but it can be specified using topic_name):

    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, }”

    or, 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, }”

    publish recording data to a topic (default topic name is “qrb_audiodata”, but it can be specified using topic_name): python3 audio_service_test.py –type=’record’ –source=’/tmp/rec.wav’ –channels=1 –sample_rate=16000 –sample_format=16 –pub_pcm=True

    or, publish recording data to /qrb_audiodata. meanwhile, save it to file:

    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

Packages

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

2024-09-26

Initial release

2025-01-03

Update index.rst