included audiohub and megaphone example

example/go2/audiohub/megaphone_example.py

@@ -0,0 +1,42 @@
+import time
+import sys
+
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.go2.audiohub.audiohub_client import AudioHubClient
+
+#from unitree_sdk2py.idl.idl_dataclass import IDLDataClass
+#from unitree_sdk2py.utils.logger import setup_logging
+#from unitree_sdk2py.sdk.sdk import create_standard_sdk
+
+if __name__ == "__main__":
+    
+    if len(sys.argv) < 2:
+        print(f"Usage: python3 {sys.argv[0]} networkInterface")
+        sys.exit(-1)
+
+    ChannelFactoryInitialize(0, sys.argv[1])
+
+    # Initialize the SDK with a custom name, which is used to identify the SDK instance and its associated logs.
+    #sdk = create_standard_sdk('UnitreeGo2SDK')
+
+    # Create a robot instance using the DDS protocol. 
+    # `domainId=0` is used as it is currently the standard for all Go2 robots, although a script to change this on the robot is planned.
+    # `interface="eth0"` specifies the network interface the DDS should use.
+    # Each robot is uniquely identified by a serial number, allowing for multiple robots to be managed by the SDK.
+    # Check if the network interface argument is provided
+
+
+    client = AudioHubClient()
+    client.SetTimeout(3.0)
+    client.Init()
+
+    # Enable Megaphone
+    client.MegaphoneEnter()
+
+    # uploading mp3/wav
+    #client.MegaphoneUpload("oiia-oiia-sound.mp3")
+    client.MegaphoneUpload("oiia-oiia-sound.wav")
+    time.sleep(5)
+
+    # Disable Megaphone
+    client.MegaphoneExit()