Audio nodes (#40)

README.md

@@ -1,6 +1,7 @@
 # RAE ROS
 
-This repository contains rae [ROS](https://www.ros.org/) integration files.
+This repository contains rae [ROS](https://www.ros.org/) integration files. 
+**Note** The RAE project is under active development so you can expect changes in the API and improvements in the performance in near future. Please report problems on Github issues as it's important for the development efforts.
 
 ### Setting up procedure
 

rae_description/launch/rsp.launch.py

@@ -4,40 +4,26 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.substitutions import Command, LaunchConfiguration
-from launch_ros.actions import LoadComposableNodes, ComposableNodeContainer
+from launch_ros.actions import Node
 from launch_ros.descriptions import ComposableNode
 from launch.conditions import IfCondition
 
 
 def launch_setup(context, *args, **kwargs):
-    name = LaunchConfiguration('name').perform(context)
     use_sim_time = LaunchConfiguration('use_sim_time')
-    run_container = LaunchConfiguration('run_container')
     pkg_path = os.path.join(get_package_share_directory('rae_description'))
     xacro_path = os.path.join(pkg_path, 'urdf', 'rae.urdf.xacro')
 
     return [
-        ComposableNodeContainer(
-            condition=IfCondition(run_container),
-            name=name+"_container",
-            namespace="",
-            package="rclcpp_components",
-            executable="component_container",
-            composable_node_descriptions=[],
-            output="both",
-        ),
-        LoadComposableNodes(
-        target_container=name+"_container",
-        composable_node_descriptions=[
-            ComposableNode(
-                package='robot_state_publisher',
-                plugin='robot_state_publisher::RobotStatePublisher',
-                name=name+'_state_publisher',
-                parameters=[{
-                        'robot_description': Command(['xacro ', xacro_path, ' sim_mode:=', use_sim_time]),
-                        'use_sim_time': use_sim_time
-                }]
-            )])
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            parameters=[{
+                'robot_description': Command(['xacro ', xacro_path, ' sim_mode:=', use_sim_time]),
+                'use_sim_time': use_sim_time
+            }]
+        )
     ]
 
 

rae_hw/CMakeLists.txt

@@ -58,6 +58,13 @@ install(
   LIBRARY DESTINATION lib
 )
 
+add_executable(mic_node src/mic_node.cpp)
+ament_target_dependencies(mic_node rclcpp audio_msgs)
+target_link_libraries(mic_node ${PROJECT_NAME})
+
+add_executable(speakers_node src/speakers_node.cpp)
+ament_target_dependencies(speakers_node rclcpp audio_msgs)
+target_link_libraries(speakers_node ${PROJECT_NAME})
 
 add_executable(test_motors test/test_motors.cpp src/rae_motors.cpp)
 target_link_libraries(test_motors ${GPIOD_LIBRARY})
@@ -76,7 +83,7 @@ ament_target_dependencies(test_speed rclcpp geometry_msgs)
 
 install(TARGETS
 
-  test_motors test_encoders test_max_speed test_speed
+  test_motors test_encoders test_max_speed test_speed mic_node speakers_node
 
   DESTINATION lib/${PROJECT_NAME})
 

rae_hw/launch/peripherals.launch.py

@@ -39,19 +39,16 @@ def launch_setup(context, *args, **kwargs):
                     name='led_node',
                     package='rae_hw',
                     plugin='rae_hw::LEDNode',
-                ),
-                ComposableNode(
-                    name='mic_node',
-                    package='rae_hw',
-                    plugin='rae_hw::MicNode',
-                ),
-                ComposableNode(
-                    name='motors_node',
-                    package='rae_hw',
-                    plugin='rae_hw::SpeakersNode',
-                ),
+                )
             ]),
-
+        Node(
+            package='rae_hw',
+            executable='mic_node'
+        ),
+        Node(
+            package='rae_hw',
+            executable='speakers_node'
+        ),
         Node(
             package='rae_bringup',
             executable='battery_status.py',

rae_hw/src/mic_node.cpp

@@ -0,0 +1,16 @@
+#include "rclcpp/rclcpp.hpp"
+#include "rae_hw/peripherals/mic.hpp"
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+
+    auto node = std::make_shared<rae_hw::MicNode>(rclcpp::NodeOptions());
+    rclcpp::executors::StaticSingleThreadedExecutor executor;
+    executor.add_node(node);
+    executor.spin();
+
+    rclcpp::shutdown();
+
+    return 0;
+}

rae_hw/src/speakers_node.cpp

@@ -0,0 +1,16 @@
+#include "rclcpp/rclcpp.hpp"
+#include "rae_hw/peripherals/speakers.hpp"
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+
+    auto node = std::make_shared<rae_hw::SpeakersNode>(rclcpp::NodeOptions());
+    rclcpp::executors::StaticSingleThreadedExecutor executor;
+    executor.add_node(node);
+    executor.spin();
+
+    rclcpp::shutdown();
+
+    return 0;
+}