fix: move to speaker pkg to platform repo

Doing this to quickly test if it merges and works... preventing issues from building up

src/limo_speaker/launch/limo_speaker.launch.py

@@ -0,0 +1,18 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='limo_speaker',
+            executable='play_audio',
+            name='play_audio',
+            output='screen'
+        ),
+        Node(
+            package='limo_speaker',
+            executable='play_tts',
+            name='play_tts',
+            output='screen'
+        ),
+    ])

src/limo_speaker/limo_speaker/consoleHorn.py

@@ -0,0 +1,53 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+
+class LimoSpeakerConsoleHorn(Node):
+    def __init__(self):
+        super().__init__('limo_speaker_console_horn_publisher')
+        self.publisher_ = self.create_publisher(String, '/speaker/play', 10)
+        self.timer = self.create_timer(1.0, self.timer_callback)
+
+    def timer_callback(self):
+        user_input = input("> ").strip().replace('"', "'").replace("!,", "")
+
+        if user_input.__len__() <= 1:
+            # catch empty lines
+            if user_input == "":
+                user_input = "car"
+            elif user_input == "1":
+                user_input = "car"
+            elif user_input == "2":
+                user_input = "truck"
+            elif user_input == "3":
+                user_input = "clown"
+            elif user_input == "4":
+                user_input = "train"
+            # default catch!
+            else:
+                user_input = "car"
+
+        msg = String()
+        msg.data = user_input
+        self.publisher_.publish(msg)
+        # Print the command to teach users how to do it manually
+        print(f"ros2 topic pub -1 /speaker/play std_msgs/msg/String \"data: '{user_input}'\"\n")
+
+def main(args=None):
+    rclpy.init(args=args)
+    horn_pub = LimoSpeakerConsoleHorn()
+    rclpy.spin(horn_pub)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    horn_pub.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    print("\033[1mLimo Horn Publisher\n\033[0mWhich horn would you like to honk?")
+    print("*"*16)
+    print(" 1) Car Horn\n 2) Truck Horn \n 3) Clown Horn \n 4) Train Horn")
+    print("*"*16, "\n")
+    main()

src/limo_speaker/limo_speaker/consoleTTS.py

@@ -0,0 +1,33 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+
+class LimoSpeakerConsoleTTS(Node):
+    def __init__(self):
+        super().__init__('limo_speaker_console_tts_publisher')
+        self.publisher_ = self.create_publisher(String, '/speaker/tts', 10)
+        self.timer = self.create_timer(1.0, self.timer_callback)
+
+    def timer_callback(self):
+        user_input = input("> ").strip().replace('"', "'").replace("!,", "")
+        msg = String()
+        msg.data = user_input
+        self.publisher_.publish(msg)
+        # Print the command to teach users how to do it manually
+        print(f"ros2 topic pub -1 /speaker/tts std_msgs/msg/String \"data: '{user_input}'\"\n")
+
+def main(args=None):
+    rclpy.init(args=args)
+    tts_pub = LimoSpeakerConsoleTTS()
+    rclpy.spin(tts_pub)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    tts_pub.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    print("What do you want me to say?\n\n")
+    main()

src/limo_speaker/limo_speaker/playAudio.py

@@ -0,0 +1,74 @@
+import rclpy
+from rclpy.node import Node
+import sounddevice as sd
+import numpy as np
+import wave
+from std_msgs.msg import String
+
+class LimoSpeakerPlayAudio(Node):
+    def __init__(self):
+        super().__init__('limo_speaker_play_audio')
+        self.subscription = self.create_subscription(
+            String,
+            '/speaker/play',
+            self.listener_callback,
+            10)
+
+    def listener_callback(self, msg):
+        self.get_logger().info('Trying to play sound: "%s"' % msg.data)
+        self.play_wav(msg.data)
+
+    # Plays a WAV file on the specified sound device.
+    def play_wav(self, sound, device_name="USB PnP Audio Device"):
+        device_index = self.get_speaker_by_name(device_name)
+        if device_index is None:
+            self.get_logger().warning(f"No sound device found with name containing '{device_name}'")
+            return
+
+        ## This puts it in the limo_platform/configs/sounds folder in the repo!
+        file_path = f"/home/ros/robot_home/limo_platform/configs/sounds/{sound}.wav"
+
+        try:
+            with wave.open(file_path, 'rb') as wf:
+                samplerate = wf.getframerate()
+                frames = wf.readframes(wf.getnframes())
+
+                # Convert bytes to NumPy array
+                data = np.frombuffer(frames, dtype=np.int16)
+
+                # Reshape if stereo
+                channels = wf.getnchannels()
+                if channels > 1:
+                    data = data.reshape(-1, channels)
+
+                self.get_logger().info(f"Playing {sound} sound on device {device_index} - {device_name}")
+
+                sd.play(data, samplerate=samplerate, device=device_index)
+                sd.wait()
+        except:
+            self.get_logger().warning(f"Couldn't play file {file_path}, does the file exist?")
+
+    # Finds the first audio device containing the given name.
+    def get_speaker_by_name(self, name_contains):
+        devices = sd.query_devices()
+        for idx, device in enumerate(devices):
+            if name_contains.lower() in device['name'].lower():
+                return idx  # Return the device index
+        return None  # Return None if not found
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    playAudio = LimoSpeakerPlayAudio()
+
+    rclpy.spin(playAudio)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    playAudio.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/limo_speaker/limo_speaker/playTTS.py

@@ -0,0 +1,83 @@
+import rclpy
+from rclpy.node import Node
+import sounddevice as sd
+import numpy as np
+import wave
+import os
+from std_msgs.msg import String
+from time import sleep
+from scipy.io import wavfile
+from scipy.signal import resample
+import tempfile
+
+class LimoSpeakerPlayTTS(Node):
+    def __init__(self):
+        super().__init__('limo_speaker_play_tts')
+        self.subscription = self.create_subscription(
+            String,
+            '/speaker/tts',
+            self.listener_callback,
+            10)
+
+    def listener_callback(self, msg):
+        self.get_logger().info('I am saying: "%s"' % msg.data)
+        self.play_speech(msg.data)
+
+    # Sends text to speech and then to the specified sound device.
+    def play_speech(self, text, device_name="USB PnP Audio Device"):
+        device_index = self.get_speaker_by_name(device_name)
+        if device_index is None:
+            self.get_logger().warning(f"No sound device found with name containing '{device_name}'")
+            return
+
+        file_path = f"/tmp/tts.wav" ### doing this temporarily, will change to using tempfile later
+
+        try:
+            with wave.open(file_path, 'rb') as wf:
+                os.system(f'espeak "{text}" -w {file_path}')
+
+                samplerate = wf.getframerate()
+                frames = wf.readframes(wf.getnframes())
+
+                # Convert bytes to NumPy array
+                data = np.frombuffer(frames, dtype=np.int16)
+
+                self.get_logger().info(f"Playing tts sound file on device {device_index} - {device_name}")
+
+                # Get the supported sample rates for the device
+                device_info = sd.query_devices(device_index, 'output')
+                supported_samplerates = device_info['default_samplerate']
+
+                # Resample if the file samplerate is not supported
+                if samplerate != supported_samplerates:
+                    self.get_logger().info(f"Resampling from {samplerate} to {supported_samplerates}")
+                    data = resample(data, int(len(data) * supported_samplerates / samplerate))
+                    data = np.asarray(data, dtype=np.int16)  # Ensure data is int16
+                    samplerate = supported_samplerates
+
+                sd.play(data, samplerate=samplerate, device=device_index)
+                sd.wait()
+        except Exception as e:
+            self.get_logger().warning(f"Couldn't play file {file_path}, does the file exist? Error: {e}")
+
+    # Finds the first audio device containing the given name.
+    def get_speaker_by_name(self, name_contains):
+        devices = sd.query_devices()
+        for idx, device in enumerate(devices):
+            if name_contains.lower() in device['name'].lower():
+                return idx  # Return the device index
+        return None  # Return None if not found
+
+def main(args=None):
+    rclpy.init(args=args)
+    playTTS = LimoSpeakerPlayTTS()
+    rclpy.spin(playTTS)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    playTTS.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

src/limo_speaker/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>limo_speaker</name>
+  <version>0.0.0</version>
+  <description>AgileX LIMO Speaker Wrapper</description>
+  <maintainer email="[email protected]">Josh Cooper</maintainer>
+  <license>Apache License 2.0</license>
+
+  <!-- System dependencies -->
+  <depend>python3-pip</depend>
+  <exec_depend>portaudio19-dev</exec_depend>
+  <exec_depend>alsa-utils</exec_depend>
+  <exec_depend>espeak</exec_depend>
+  <exec_depend>libespeak-dev</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/limo_speaker/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/limo_speaker
+[install]
+install_scripts=$base/lib/limo_speaker

src/limo_speaker/setup.py

@@ -0,0 +1,34 @@
+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'limo_speaker'
+
+setup(
+    name=package_name,
+    version='0.0.2',
+    packages=[package_name],
+    data_files=[
+        (os.path.join('share', package_name), ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+        (os.path.join('share', package_name), ['resource/' + package_name]),
+    ],
+    install_requires=[
+        'setuptools',
+        'sounddevice',
+    ],
+    zip_safe=True,
+    maintainer='Josh Cooper',
+    maintainer_email='[email protected]',
+    description='Package description',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'play_audio = limo_speaker.playAudio:main',
+            'play_tts = limo_speaker.playTTS:main',
+            'console_tts = limo_speaker.consoleTTS:main',
+            'console_horn = limo_speaker.consoleHorn:main',
+        ],
+    },
+)

src/limo_speaker/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/limo_speaker/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)