Enable core audio with qrb_ros_audio_service

ROS node	Description
`/audio_service`	This node functions as the primary entry point for the `qrb_ros_audio_service`, offering audio playback and recording capabilities through ROS service requests.

ROS service	Type	Description
`/audio_server`	`qrb_ros_audio_service_msgs::srv::AudioRequest`	Allows ROS applications to send service requests for audio playback and recording.

ROS topic	Type	Description
`/qrb_audiodata`	`qrb_ros_audio_service_msgs::msg::AudioData`	Used for streaming audio playback and recording. Publishes the recorded real-time raw audio data, or allows subscription to this node’s raw data for playback. You can modify the topic name using the `--topic_name` parameter. Supports using separate topics for playback and recording operations.

Set up the environment

Start three commandline terminals on your device and run the following commands.

ssh root@[ip-addr]

SSH Session

export HOME=/home
source /usr/share/qirp-setup.sh

Run the audio service

In the first SSH terminal, run the audio service package using the ros2 launch command.

SSH Session

ros2 launch qrb_ros_audio_service audio_service.launch.py

Check the default devices for the pipewire

Verify the status of default speaker and handset mic.

SSH Session

wpctl status

Audio
 ├─ Devices:
 │
 ├─ Sinks:
 │      * 42. pal sink speaker ll         [vol: 1.00]
 │        44. pal sink speaker_db         [vol: 1.00]
 │        46. pal sink headset_ll         [vol: 1.00]
 │        47. pal sink headset_db         [vol: 1.00]
 ├─ Sources:
 │      * 48. pal source handset mic      [vol: 1.00]
 │        50. pal source headset mic      [vol: 1.00]

If the default speaker or handset mic isn’t set, use wpctl set-default <device-num> to set the default device(s).
SSH Session
# Set the default speaker wpctl set-default 42 # Set the default handset mic wpctl set-default 48

Run the test cases

In the third SSH terminal, run the test cases using either ROS commands or Python scripts according to the following table.

NoteFor all step-by-step test cases, stream_handle indicates the stream created by the audio service when the command is create.After the audio service creates a stream, the command prints the value of stream_handle in the third SSH terminal.

For the ROS command, you see the following output:
stream_handle=<***>
For the Python script, you see the following output: command create success 1 stream_handle <***>. Download the Python script using
wget https://raw.githubusercontent.com/qualcomm-qrb-ros/qrb_ros_audio_service/main/tests/audio_service_test.py

Case name	Description	ROS command/Python script
One-touch playback	Start playback with a one-touch command. The speaker outputs the audio. Supports the WAV file format. Place the music file on a device path, for example, `/tmp/music.wav`.	ROS command Python script `ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{ command: "play", source: "/tmp/music.wav", volume: 100, }"` `python3 audio_service_test.py --mode one-touch --type playback --source /tmp/music.wav --volume 100`
Step-by-step playback	Start playback with step-by-step commands. The speaker outputs the audio. Supports the WAV file format.	ROS command Python script 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: <stream_handle>, }" ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{ command: "mute", mute: true, stream_handle: <stream_handle>, }" ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{ command: "mute", mute: false, stream_handle: <stream_handle>, }" ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{ command: "stop", stream_handle: <stream_handle>, }" ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{ command: "release", stream_handle: <stream_handle>, }" # Create and start the stream (step-by-step mode automatically starts after create) python3 audio_service_test.py --mode step-by-step --type playback --source /tmp/music.wav --volume 100 # In another terminal, mute the stream using the printed stream_handle python3 audio_service_test.py --set-mute --stream_handle <stream_handle> --mute true # Unmute the stream python3 audio_service_test.py --set-mute --stream_handle <stream_handle> --mute false # Press Ctrl+C in the first terminal to stop and release the stream
Streaming playback	Create and start a streaming playback. It subscribes to the audio PCM data from the `loopback` topic. Audio data should be filled with `qrb_ros_audio_service_msgs::msg::AudioData`.	ROS command Python script Start a 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: <stream_handle>, }"` Start a 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", }"` Start a step-by-step streaming playback: `python3 audio_service_test.py --mode step-by-step --type playback --channels 1 --sample_rate 16000 --sample_format 16 --volume 100 --topic_name loopback` Start a one-touch streaming playback: `python3 audio_service_test.py --mode one-touch --type playback --channels 1 --sample_rate 16000 --sample_format 16 --volume 100 --topic_name loopback`
Step-by-step record	Use the default input device to record with step-by-step commands and write the audio data to the `/tmp/rec.wav` file.	ROS command Python script 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: <stream_handle>, }" ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{ command: "stop", stream_handle: <stream_handle>, }" ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{ command: "release", stream_handle: <stream_handle>, }" `# Create and start the recording stream (step-by-step mode automatically starts after create) python3 audio_service_test.py --mode step-by-step --type record --channels 1 --sample_rate 16000 --sample_format 16 --source /tmp/rec.wav # Press Ctrl+C to stop and release the stream`
Publish recording data	Publish the recording data to a topic (default topic name: `qrb_audiodata`. You can specify another name using `topic_name`). The audio data will be filled with `qrb_ros_audio_service_msgs::msg::AudioData`.	ROS command Python script Publish the 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, topic_name: "loopback", }"` Or, publish the recording data to `/qrb_audiodata`. Meanwhile, save it to a 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: <stream_handle>, }" ros2 topic echo /qrb_audiodata ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{ command: "stop", stream_handle: <stream_handle>, }" ros2 service call /audio_server qrb_ros_audio_service_msgs/srv/AudioRequest "{ command: "release", stream_handle: <stream_handle>, }" Publish the recording data to a topic (default topic name is “`qrb_audiodata`”, but it can be specified using `--topic_name`): `python3 audio_service_test.py --mode step-by-step --type record --channels 1 --sample_rate 16000 --sample_format 16 --pub_pcm true --topic_name loopback` Or, publish the recording data to `/qrb_audiodata`. Meanwhile, save it to a file: `python3 audio_service_test.py --mode step-by-step --type record --channels 1 --sample_rate 16000 --sample_format 16 --pub_pcm true --source /tmp/rec.wav` In another terminal, echo the topic: `ros2 topic echo /qrb_audiodata` Press Ctrl+C in the first terminal to stop and release the stream.

Pipeline for `qrb_ros_audio_service`

ROS nodes/services used in the `qrb_ros_audio_service` pipeline

ROS topics used in the `qrb_ros_audio_service` pipeline

Prerequisites

Run out-of-the-box `qrb_ros_audio_service`

​Pipeline for qrb_ros_audio_service

​ROS nodes/services used in the qrb_ros_audio_service pipeline

​ROS topics used in the qrb_ros_audio_service pipeline

​Prerequisites

​Run out-of-the-box qrb_ros_audio_service

Pipeline for `qrb_ros_audio_service`

ROS nodes/services used in the `qrb_ros_audio_service` pipeline

ROS topics used in the `qrb_ros_audio_service` pipeline

Prerequisites

Run out-of-the-box `qrb_ros_audio_service`