Add audio support

Matches the API of furushchev/respeaker_ros#19, but bumped to Python3 and
with less string-y handling of audio data
Drops dynamic reconfigure, as params are dynamic by default in ROS 2

.gitignore

@@ -166,3 +166,5 @@ $RECYCLE.BIN/
 
 # .nfs files are created when an open file is removed but is still being accessed
 .nfs*
+
+.vscode

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Nick Walker
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -1,4 +1,12 @@
-# Respeaker DOA Publisher
+# respeaker_ros
 
-A ROS2 node which periodically publishes the DOA of a Respeaker microphone array.
+ROS2 wrapper for the ReSpeaker 4 Mic Array. Publishes audio, direction-of-arrival information and allows control over the LED ring.
+
+Based on [previous](https://github.com/furushchev/respeaker_ros) [wrappers](https://github.com/machinekoder/respeaker).
+
+## Usage
+
+You need to build [audio_common](https://github.com/ros-drivers/audio_common) from source until it gets released into ROS2.
+
+Copy the udev rules from `respeaker_ros/config` into `/etc/udev/rules.d/`.
 

package.xml

@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>respeaker</name>
+  <name>respeaker_ros</name>
   <version>1.0.0</version>
   <description>ROS interface for respeaker.</description>
-  <maintainer email="alex@machinekoder.com">Alex Roessler</maintainer>
-  <license>Apache License 2.0</license>
+  <maintainer email="nswalker@cs.washington.edu">Nick Walker</maintainer>
+  <license>MIT</license>
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
@@ -16,6 +16,14 @@
   <test_depend>rclpy</test_depend>
   <test_depend>std_msgs</test_depend>
 
+  <depend>angles</depend>
+  <depend>audio_common_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>portaudio19-dev</depend>
+  <depend>python3-pyaudio</depend>
+  <depend>python3-spidev</depend>
+  <depend>tf_transformations</depend>
+
   <export>
     <build_type>ament_python</build_type>
   </export>