{"id":25846704,"url":"https://github.com/modular-ml/wrapyfi_ros_interfaces","last_synced_at":"2026-03-04T18:02:30.193Z","repository":{"id":216641972,"uuid":"741877234","full_name":"modular-ml/wrapyfi_ros_interfaces","owner":"modular-ml","description":"ROS audio message and service for Wrapyfi","archived":false,"fork":false,"pushed_at":"2024-01-30T10:10:43.000Z","size":16,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-03-01T09:36:45.873Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/modular-ml.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null}},"created_at":"2024-01-11T09:49:08.000Z","updated_at":"2024-01-14T15:23:42.000Z","dependencies_parsed_at":"2024-01-30T11:28:41.837Z","dependency_job_id":"9129473b-8893-4e20-a1e0-259af04e3c3e","html_url":"https://github.com/modular-ml/wrapyfi_ros_interfaces","commit_stats":null,"previous_names":["modular-ml/wrapyfi_ros_interfaces"],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/modular-ml/wrapyfi_ros_interfaces","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/modular-ml%2Fwrapyfi_ros_interfaces","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/modular-ml%2Fwrapyfi_ros_interfaces/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/modular-ml%2Fwrapyfi_ros_interfaces/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/modular-ml%2Fwrapyfi_ros_interfaces/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/modular-ml","download_url":"https://codeload.github.com/modular-ml/wrapyfi_ros_interfaces/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/modular-ml%2Fwrapyfi_ros_interfaces/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":30088339,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-03-04T15:40:14.053Z","status":"ssl_error","status_checked_at":"2026-03-04T15:40:13.655Z","response_time":59,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-03-01T09:33:37.902Z","updated_at":"2026-03-04T18:02:30.146Z","avatar_url":"https://github.com/modular-ml.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Wrapyfi ROS interfaces\n\n**WARNING**: These instructions are located in \n[https://github.com/modular-ml/wrapyfi_ros_interfaces](https://github.com/modular-ml/wrapyfi_ros_interfaces)\n\nTo transmit ROS audio messages with [Wrapyfi](https://github.com/fabawi/wrapyfi), you need to compile the ROS interfaces. \nROS must already be installed on your system, with all its build dependencies. \nYou can find the installation instructions [here](http://wiki.ros.org/noetic/Installation/Ubuntu) \nor install using [Robostack](https://robostack.github.io/GettingStarted.html).\n\n## Prerequisites\n\n- ROS Noetic\n- Python 3.6\n\n## Installation\n\nWe recommend [compiling](#compiling) the Wrapyfi ROS interfaces rather than installing them. However, if ROS was installed locally (**not** within mamba/micromamba), \nThen the Wrapyfi interfaces can be installed directly using APT [![ROS Package Index](https://img.shields.io/ros/v/noetic/wrapyfi_ros_interfaces)](https://index.ros.org/r/wrapyfi_ros_interfaces/#noetic)\n\n\n**APT (local Noetic only)** \n```bash\nsource /opt/ros/noetic/setup.bash\nsudo apt update\nsudo apt install ros-noetic-wrapyfi-ros-interfaces\n# test package: should return the audio message type for ROS\nrosmsg show ROSAudioMessage\n\n```\n\n## Compiling\n\n1. Copy the `wrapyfi_ros_interfaces` folder to your ROS workspace (assumed to be `~/ros_ws`).\n\n    ```bash\n    # from the current directory \n    cd ../\n    cp -r wrapyfi_ros_interfaces ~/ros_ws/src\n    \n    ```\n\n2. Compile the ROS interfaces:\n    \n    ```bash\n    cd ~/ros_ws\n    catkin_make\n    \n    ```\n    \n    **Note**: If the wrong version of Python is used, the compilation will fail. Make sure that the correct version of cmake \n    is used by modifying the `cmake_minimum_required` version in the `~/ros_ws/src/wrapyfi_ros_interfaces/CMakeLists.txt` file:\n    \n    ```cmake\n    # CMakeLists.txt\n    cmake_minimum_required(VERSION 3.0.2)\n    # ...\n    ```\n    \n    Replacing VERSION 3.0.2 with the correct version of cmake.\n\n3. Source the ROS workspace:\n\n    ```bash\n    source ~/ros_ws/devel/setup.bash\n    ```\n\n4. Verify that the ROS Audio message interface is compiled:\n        \n    ```bash\n    rosmsg show ROSAudioMessage\n    ```\n    \n    Which should output:\n    \n    ```bash\n   [wrapyfi_ros_interfaces/ROSAudioMessage]:\n   std_msgs/Header header\n     uint32 seq\n     time stamp\n     string frame_id\n   uint32 chunk_size\n   uint8 channels\n   uint32 sample_rate\n   string encoding\n   uint8 is_bigendian\n   uint32 bitrate\n   string coding_format\n   uint32 step\n   uint8[] data\n    \n    ```\n\n5. Verify that the ROS Audio service interface is compiled:\n        \n    ```bash\n    rossrv show ROSAudioService\n    ```\n    \n    Which should output:\n    \n    ```bash\n   [wrapyfi_ros_interfaces/ROSAudioService]:\n   string request\n   ---\n   wrapyfi_ros_interfaces/ROSAudioMessage response\n     std_msgs/Header header\n       uint32 seq\n       time stamp\n       string frame_id\n     uint32 chunk_size\n     uint8 channels\n     uint32 sample_rate\n     string encoding\n     uint8 is_bigendian\n     uint32 bitrate\n     string coding_format\n     uint32 step\n     uint8[] data\n\n    ```\n   \n     Run your Wrapyfi enabled script from the same terminal. Now you can transmit ROS audio messages in PUB/SUB [\\[example\\]](https://wrapyfi.readthedocs.io/en/latest/examples/examples.sensors.html#module-examples.sensors.cam_mic) and REQ/REP [\\[example\\]](https://wrapyfi.readthedocs.io/en/latest/examples/examples.communication_patterns.html#module-examples.communication_patterns.request_reply_example).\n     \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmodular-ml%2Fwrapyfi_ros_interfaces","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmodular-ml%2Fwrapyfi_ros_interfaces","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmodular-ml%2Fwrapyfi_ros_interfaces/lists"}