respeaker_ros

ROS2 wrapper for the ReSpeaker 4 Mic Array. Publishes audio and direction-of-arrival information.

Based on previous wrappers for ROS.

Prerequisites:

• For ROS2 Humble installation refer to here:
  https://docs.ros.org/en/humble/Installation.html

• Copy the udev rules from respeaker_ros/config/40-respeaker.rules into /etc/udev/rules.d/.
  !!! There are different files in the /config folder, try putting the 40-respeaker.rules first, in case of an error, try the second config 60-respeaker.rules.
  

• sudo systemctl restart udev
  

• Then reconnect your device.
  

• ReSpeaker setup:

1. sudo pip install -r requirements.txt
2. sudo apt install python3-pyaudio
3. git clone https://github.com/respeaker/usb_4_mic_array.git
4. cd usb_4_mic_array
5. sudo python dfu.py --download 6_channels_firmware.bin # The 6 channels version

• Build audio_common from source until it gets released into ROS2, you need the ros2 branch:
  

1. cd your_workspace
   
2. mkdir src
   
3. cd src
   
4. git clone -b ros2 https://github.com/ros-drivers/audio_common.git
   

• Then:
  

5. https://github.com/SemuBot/respeaker_ros.git
   
6. cd ..
   
7. rosdep install --from-paths src -y --ignore-src
   
8. colcon build --packages-select audio_common_msgs audio_capture audio_play
   
9. colcon build --packages-select respeaker_ros
   

• Finally, open another terminal to run the node:
  

10. source install/local_setup.bash
    
11. ros2 run respeaker_ros respeaker_node
    

• If you need sound_play from audio_common, then build your workspace with the colcon build command, but the sound_play module might cause errors.
  
• In case of an error on ROS2 Humble regarding ament_python_install_package refer to https://github.com/ros2/rosidl_python/pull/187 (easy fix).