Adding the barking code and the launch file

barking.py

@@ -0,0 +1,22 @@
+import pygame
+import time
+import random
+
+# Initialize pygame mixer
+pygame.mixer.init()
+
+# Load the sound file
+sound = pygame.mixer.Sound("bark5.wav")
+
+try:
+    while True:
+        # Play the sound
+        sound.play()
+
+        # Wait for the sound to finish playing
+        time.sleep(sound.get_length())
+
+        # Wait for a random interval between plays, e.g., 2 to 5 seconds
+        time.sleep(random.randint(2, 5))
+except KeyboardInterrupt:
+    print("Playback stopped by user.")

barking_and_chasing.launch

@@ -0,0 +1,7 @@
+<launch>
+    <!-- Launch barking.py -->
+    <node name="barking" pkg="my_robot_package" type="barking.py" output="screen"/>
+
+    <!-- Launch bring_ball.py -->
+    <node name="bring_ball" pkg="my_robot_package" type="bring_ball.py" output="screen"/>
+</launch>