Can't get ROS 2 branch to work in ROS2 humble

[dgarcu]

Hi there,

I would like to add sounds to my projects. I am trying to use the ROS 2 branch, more precisely the sound_play package. I'm working with Humble distro and Ubuntu 22.04.

First of all, I cannot manage to compile unless I change from this (In CMakeLists.txt)

[...]
rosidl_generate_interfaces(${PROJECT_NAME}
[...]

To something like this:

[...]
rosidl_generate_interfaces(<custom_name>
[...]

Essentially, everywhere where ${PROJECT_NAME} appears. This is how I've compiled it, BTW (after doing the same with audio_common_msgs with no issues):

colcon build --symlink-install --packages-select sound_play

I figured out because CMake complained about a duplicate target name, which is sound_play, a directory inside the sound_play package root directory, sounds like a duplicate to me. OFC, changing those lines breaks the package so badly that it does not work at all despite of successful build. I've also tried to rename that directory to something else. Trying to run any script results on missed files (Because the path of some modules changed to the <custom_name>)

I'm kinda new to ROS and I do not know how to proceed. I am clearly missing some steps. How can I install sound_play in ROS 2 properly? I know this branch is still in development, but I think that I am the issue here.

Thanks in advance! Cheers.

[knorth55]

Hi,
humble rosidl_python has serious bug reported below.
ros2/rosidl_python#141

the issue can be solved by the following two PRs, but not merged yet.
ros2/rosidl_python#187
#212

Can you try ros2/rosidl_python#187 and #212 ?
If your problem solved, can you add a comment in ros2/rosidl_python#187 ?

[dgarcu]

Sorry, I'm kinda new to Github too and I forget to chek PR's. I'm giving it a try right now.

[dgarcu]

Sorry, I'm kinda new to Github too and I forget to chek PR's. I'm giving it a try right now.

I'm stuck again with ros2/rosidl_python#187. Apparently now I lack from a module called rosidl_pycommon. I managed to found it in the source ROS repos, but in the Humble branch this module is missing, hence I do not have it installed. Since I have installed ROS Humble from binaries, I do not know exactly how to proceed.

Sorry to bother you, clearly this is not an issue with audio_common at all. I feel like this kind of problems need to be answered somewhere else. Sorry!

Thanks for your fast reply, btw. 😄

[knorth55]

my colcon workspace config is as below yaml.

repositories:
  audio_common:
    type: git
    url: https://github.com/knorth55/audio_common.git
    version: ros2-idl-bugfix
  rosidl:
    type: git
    url: https://github.com/ros2/rosidl.git
    version: 3.3.1
  rosidl_python:
    type: git
    url: https://github.com/knorth55/rosidl_python.git
    version: fix-141

You can copy this yaml to audio.repos,
and run vcs import < audio.repos to apply this config to your workspace.
you can install vcs command with python3-vcstools.

root@3655dde8c0dd:~# mkdir tmp_ws/src -p
root@3655dde8c0dd:~# cd tmp_ws/src/
root@3655dde8c0dd:~/tmp_ws/src# ls
root@3655dde8c0dd:~/tmp_ws/src# vcs import < ~/audio.repos 
...
=== ./audio_common (git) ===
Cloning into '.'...
=== ./rosidl (git) ===
Cloning into '.'...
=== ./rosidl_python (git) ===
Cloning into '.'...
root@3655dde8c0dd:~/tmp_ws/src# ls
audio_common  rosidl  rosidl_python
root@3655dde8c0dd:~/tmp_ws/src# rosdep install --from-paths . -y -r -i
...
root@3655dde8c0dd:~/tmp_ws/src# colcon build
...

[dgarcu]

I owe you a beer! 😄

thanku.mp4

[knorth55]

@dgarcu
hahaha, I'm glad that you finally find the solution 😄 .
Can you also write a comment in ros2/rosidl_python#187 to speed up the review and merge ?

[dgarcu]

@dgarcu hahaha, I'm glad that you finally find the solution smile . Can you also write a comment in ros2/rosidl_python#187 to speed up the review and merge ?

Sure, I'm doing it right now. Thanks again.

[Viral-Doshi-Conigital]

Hello,
I have a query on the similar lines as the one above. If that's okay, my question is as follows:
I'm working on a project in which need audio (wav files to be executed). I'm using the ROS 2 branch of audio_common and intend to use sound_play module. I'm working with Humble on a docker and Ubuntu 20.04 LTS. I had similar issues as above, which did get resolved. Thanks to the above thread.

The issue, when executing sound_play command followed by the absolute path of wav file, the play.py prints that it is playing the file. However, no audio can be heard (its the same for a string input). The docker has access to device soundcard.

The commands that I have been using:
ros2 run sound_play play.py /path/to/file.wav ros2 run sound_play say.py 'Hello'

Any suggestion of what mistakes I could have done and its possible solution.

In addition, let me know if its no relevant to the above thread and needs a new issue to be raised.

Thanks

[knorth55]

@dviral13 it may be different issue so can you open a new issue?
also can you try playing the sound from alsa or pulse audio in docker, not using this package.
you wrote that the sound cards were listed but im not sure the sound card ls were correctly recognized or not.

[Viral-Doshi-Conigital]

@knorth55
I have tried aplay command, not sure if it the same, but that commands works.

[dgarcu]

@dviral13

Maybe I am late. But for me to run both of your commands I have to previously run this one:

ros2 run sound_play soundplay_node.py

Please @knorth55 correct me if I am wrong, but soundplay_node.py it is neccesary to be launched since both play.py and say.py do not "play" directly from said nodes, but asks soundplay_node.py as a ros-service to do so. Here is the output of soundplay_node.py when say.py runs.

Same goes for play.py, at least in my case.

Greetings!