Add Tailscale Network Support and Audio Capture Task

cyclonedds.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config">
+  <Domain>
+    <General>
+	<Interfaces>
+	  <NetworkInterface name="tailscale0" />
+	</Interfaces>
+      <AllowMulticast>false</AllowMulticast>
+    </General>
+    <Discovery>
+      <Peers>
+        <!-- On Device A, put Device B's Tailscale IP -->
+        <Peer address="100.96.130.58"/>
+      </Peers>
+      <ParticipantIndex>auto</ParticipantIndex>
+    </Discovery>
+  </Domain>
+</CycloneDDS>

pixi.toml

@@ -8,6 +8,11 @@ preview = ["pixi-build"]
 [tasks]
 build = "colcon build --packages-select audio_tools --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
+# Run the audio capture node and publish via tailscale
+run_audio_capture_tailscale = { cmd = [
+    "./setup_ros_tailscale.sh", "ros2", "run", "audio_tools", "audio_capture_node", "--ros-args", "-p", "sample_rate:=16000", "-p", "channels:=1", "-p", "sample_format:=S16LE"
+], depends-on = ["build"] }
+
 [target.win-64.tasks]
 vscode = "code ."
 
@@ -36,4 +41,5 @@ numpy = "*"
 
 [target.win-64.dependencies]
 python-devtools = "*"
-python = "*"
+python = "*"
+

setup_ros_tailscale.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+
+# Set up the network and DDS environment variables for Tailscale
+export CYCLONEDDS_URI=file://$PIXI_PROJECT_ROOT/cyclonedds.xml
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export ROS_NETWORK_INTERFACE=tailscale0
+export ROS_IP=$(tailscale ip -4)
+export ROS_DOMAIN_ID=0
+
+# Source the ROS workspace
+source install/setup.bash
+
+# Execute the command passed as arguments
+exec "$@"
+
+echo "ROS2 environment configured for Tailscale communication"