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Cpp #276

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27b4507
my update
rodperex Feb 5, 2026
18f8ddb
cpp
rodperex Mar 27, 2026
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36 changes: 34 additions & 2 deletions sound_play/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,18 @@ find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(audio_common_msgs REQUIRED)
find_package(action_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(diagnostic_msgs REQUIRED)
find_package(ament_index_cpp REQUIRED)

include_directories(rclcpp audio_common_msgs action_msgs builtin_interfaces)
find_package(PkgConfig REQUIRED)
pkg_check_modules(GST REQUIRED gstreamer-1.0)

include_directories(
include
${GST_INCLUDE_DIRS}
)

set(msg_files
"msg/SoundRequest.msg"
Expand All @@ -33,7 +43,29 @@ rosidl_generate_interfaces(${PROJECT_NAME}
builtin_interfaces
)

ament_python_install_package(${PROJECT_NAME})
# Build C++ soundplay node
add_executable(soundplay_node_cpp src/soundplay_node.cpp)
ament_target_dependencies(soundplay_node_cpp
rclcpp
rclcpp_action
diagnostic_msgs
ament_index_cpp
)
target_link_libraries(soundplay_node_cpp ${GST_LIBRARIES})

# Need to link against the generated interfaces
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(soundplay_node_cpp "${cpp_typesupport_target}")

install(TARGETS soundplay_node_cpp
DESTINATION lib/${PROJECT_NAME}
)

# Install Python package manually to avoid conflicts with rosidl_generate_interfaces
install(DIRECTORY ${PROJECT_NAME}/
DESTINATION lib/python3.12/site-packages/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.py"
)

install(PROGRAMS
scripts/is_speaking.py
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4 changes: 2 additions & 2 deletions sound_play/launch/soundplay_node.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<!--
This launch file starts soundplay_node.py, which is the node that plays
This launch file starts soundplay_node_cpp, which is the C++ node that plays
sounds based on messages on the robotsound topic.
-->

Expand All @@ -8,7 +8,7 @@ sounds based on messages on the robotsound topic.
<arg name="loop_rate" default="100" />
<arg name="default_voice" default="voice_kal_diphone" />

<node name="soundplay_node" pkg="sound_play" exec="soundplay_node.py">
<node name="soundplay_node" pkg="sound_play" exec="soundplay_node_cpp">
<param name="device" value="$(var device)" />
<param name="loop_rate" value="$(var loop_rate)" />
<param name="default_voice" value="$(var default_voice)" />
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9 changes: 9 additions & 0 deletions sound_play/package.xml
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Expand Up @@ -26,10 +26,19 @@
<build_depend>audio_common_msgs</build_depend>
<build_depend>boost</build_depend>
<build_depend>builtin_interfaces</build_depend>
<build_depend>rclcpp</build_depend>
<build_depend>rclcpp_action</build_depend>
<build_depend>diagnostic_msgs</build_depend>
<build_depend>ament_index_cpp</build_depend>
<build_depend>libgstreamer1.0-dev</build_depend>

<exec_depend>action_msgs</exec_depend>
<exec_depend>audio_common_msgs</exec_depend>
<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>rclcpp_action</exec_depend>
<exec_depend>diagnostic_msgs</exec_depend>
<exec_depend>ament_index_cpp</exec_depend>
<exec_depend>festival</exec_depend>
<exec_depend>launch_xml</exec_depend>
<exec_depend>rclpy</exec_depend>
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