Upload files to "dogbot_bark"

dogbot_bark/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(dogbot_bark)
+
+## Find catkin and any catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+)
+
+## Declare a catkin package
+catkin_package()
+
+## Mark executable scripts (Python etc.) for installation
+## This ensures the node can be run from anywhere and not just the source directory
+catkin_install_python(PROGRAMS scripts/bark.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY src/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/src
+  FILES_MATCHING PATTERN "*.wav"
+)
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+

dogbot_bark/bark.py

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+#!/usr/bin/env python
+import rospy
+from std_msgs.msg import String
+import os
+import rospkg
+
+def callback(data):
+    rospy.loginfo("Received a command to bark")
+    
+    # Get the path of the 'dogbot_bark' package
+    rospack = rospkg.RosPack()
+    package_path = rospack.get_path('dogbot_bark')
+    sound_file_path = os.path.join(package_path, 'src', 'Dog Woof.wav')
+    
+    os.system(f'aplay {sound_file_path}')  # Play the sound file
+
+def listener():
+    rospy.init_node('bark_listener', anonymous=True)
+    rospy.Subscriber("bark_command", String, callback)
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()

dogbot_bark/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>dogbot_bark</name>
+  <version>0.0.0</version>
+  <description>The dogbot_bark package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="dy11@todo.todo">dy11</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/dogbot_bark</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>