Updated:
This page contains notes from my various tests and experiments. It is a raw record of what I did, without correction for errors, or later update for things that I learn. Use at your own risk.
Jetbot ROS2 #2: Use jetbot locally
I have the camera working locally. Now I want to get the existing work (that had been done in Docker) working locally.
Dependencies
I have not been following ROS2 practices for dependencies. Can I start to do that?
I have both pip and apt dependencies. How to express those? Somewhere I recall a list of possible supported dependencies. Where was that? https://github.com/ros/rosdistro/blob/master/rosdep/base.yaml
2022-03-10
I had to split non-ROS2 dependencies into a separate install script.
PanTilt now works. googleTTS runs but produces not sound. I need to configure audio in this new OS instance.
It was simple, just adding asound.conf seemed to do it.
2022-03-28
I put BDBD back together, now sound playback is not working. The basic test is this:
aplay /usr/share/sounds/alsa/Front_Center.wav
That runs, but no sound comes out. This may be a permission problem, because this works:
sudo aplay /usr/share/sounds/alsa/Front_Center.wav
though it also complains about ‘Home directory not accessible: Permission denied’
but it I do ```su``` followed by the command, still works but bo error. So it seems to be a permission problem.
Looking at seeedstudio webpage I got a hint of how to specify devices. With that hint, this works:
```bash
aplay -D plughw:2,0 /usr/share/sounds/alsa/Front_Center.wav
meaning that it may not be a permission issue, but a config issue.
With -v I get more details:
kent@nano:/etc/udev/rules.d $ aplay -v /usr/share/sounds/alsa/Front_Center.wav
Playing WAVE '/usr/share/sounds/alsa/Front_Center.wav' : Signed 16 bit Little Endian, Rate 48000 Hz, Mono
ALSA <-> PulseAudio PCM I/O Plugin
Its setup is:
stream : PLAYBACK
access : RW_INTERLEAVED
format : S16_LE
subformat : STD
channels : 1
rate : 48000
exact rate : 48000 (48000/1)
msbits : 16
buffer_size : 24000
period_size : 6000
period_time : 125000
tstamp_mode : NONE
tstamp_type : GETTIMEOFDAY
period_step : 1
avail_min : 6000
period_event : 0
start_threshold : 24000
stop_threshold : 24000
silence_threshold: 0
silence_size : 0
boundary : 6755399441055744000
for the non-working. For the working,
kent@nano:/etc/udev/rules.d $ aplay -v -D plughw:2,0 /usr/share/sounds/alsa/Front_Center.wav
Playing WAVE '/usr/share/sounds/alsa/Front_Center.wav' : Signed 16 bit Little Endian, Rate 48000 Hz, Mono
Plug PCM: Rate conversion PCM (16000, sformat=S16_LE)
Converter: libspeex (external)
Protocol version: 10002
Its setup is:
stream : PLAYBACK
access : RW_INTERLEAVED
format : S16_LE
subformat : STD
channels : 1
rate : 48000
exact rate : 48000 (48000/1)
msbits : 16
buffer_size : 24000
period_size : 6000
period_time : 125000
tstamp_mode : NONE
tstamp_type : MONOTONIC
period_step : 1
avail_min : 6000
period_event : 0
start_threshold : 24000
stop_threshold : 24000
silence_threshold: 0
silence_size : 0
boundary : 6755399441055744000
Slave: Route conversion PCM (sformat=S24_3LE)
Transformation table:
0 <- 0
1 <- 0
Its setup is:
stream : PLAYBACK
access : MMAP_INTERLEAVED
format : S16_LE
subformat : STD
channels : 1
rate : 16000
exact rate : 16000 (16000/1)
msbits : 16
buffer_size : 8000
period_size : 2000
period_time : 125000
tstamp_mode : NONE
tstamp_type : MONOTONIC
period_step : 1
avail_min : 2000
period_event : 0
start_threshold : 8000
stop_threshold : 8000
silence_threshold: 0
silence_size : 0
boundary : 9007199254740992000
Slave: Hardware PCM card 2 'ReSpeaker 4 Mic Array (UAC1.0)' device 0 subdevice 0
Its setup is:
stream : PLAYBACK
access : MMAP_INTERLEAVED
format : S24_3LE
subformat : STD
channels : 2
rate : 16000
exact rate : 16000 (16000/1)
msbits : 24
buffer_size : 8000
period_size : 2000
period_time : 125000
tstamp_mode : NONE
tstamp_type : MONOTONIC
period_step : 1
avail_min : 2000
period_event : 0
start_threshold : 8000
stop_threshold : 8000
silence_threshold: 0
silence_size : 0
boundary : 9007199254740992000
appl_ptr : 0
hw_ptr : 0
So somehow I am using pulse audio, and that is not working.
I restarted nano, checked:
systemctl --user status pulseaudio
and it is not running. If I start it, then aplay works.
I did:
systemctl --user enable pulseaudio
and rebooted. pulseaudio is now restarted - but sound is not working.
I found info on how to set default device for pulseaudio. So I created a file /home/kent/.config/pulse with this content:
.include /etc/pulse/default.pa
set-default-sink alsa_output.usb-SEEED_ReSpeaker_4_Mic_Array__UAC1.0_-00.analog-stereo
After systemctl --user restart pulseaudio then speaker-test worked. I’m going to try with a cold boot. … Worked.
But what does not work now is arecord. I need to do the same thing there.
2022-03-29
pacmd list-sources
4 source(s) available.
index: 0
name: <alsa_output.usb-SEEED_ReSpeaker_4_Mic_Array__UAC1.0_-00.analog-stereo.monitor>
...
so I assume I need:
set-default-source alsa_output.usb-SEEED_ReSpeaker_4_Mic_Array__UAC1.0_-00.analog-stereo.monitor
Added this to /home/kent/.config/pulse/default.pa, did systemctl --user restart pulseaudio then ~/github/rkent/bdbd2_jl_ws/src/bdbd2/bdbd2_jetbot/scripts/atest.sh Did not work.
I can make the recording work using arecord -v -D plughw:2,0 -d 5 -f s32_LE -r 16000 /tmp/test.wav so the issue is specifying the default.
I also tried in default.pa “set-default-source alsa_output.usb-SEEED_ReSpeaker_4Mic_Array__UAC1.0-00.analog-stereo.monitoralsa_input.usb-SEEED_ReSpeaker_4Mic_Array__UAC1.0-00.multichannel-input” but that also did not work.
Before I give up, I’m going to install the old OS and see how it works. Previous reinstall (bdbd2) speaker-test did not work, and atest.sh did not exist.
Summary of sound setup:
1) Make sure pulseaudio starts 2) Configure default pulseaudio source
In bdbd, we use aplay to default device for playback. Recording searches for the device, so default arecord is not needed. I can’t get arecord to work, so I deleted its test from atest.sh