ROS audio_common Package

To get started, clone the repository into your ROS workspace, build with catkin build and source devel/setup.bash.

When compiling on Ubuntu 16.04, there can be a missing package issue - make sure GStreamer is installed.
Here is an installation command for Ubuntu or Debian:

sudo apt-get install libgstreamer1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio libgstreamer-plugins-base1.0-dev

For user documentation, please refer to the ROS Wiki page for audio_common

Enabling Monitor

To be able to record sounds coming from the computer:

1. Move the .asoundrc file to the user directory (~/)
2. Edit the file: replace both instances of #NAME with the name of the Monitor Source. To find the name of the Monitor Source, type pactl list into terminal and use the Search function. See example (the name is in the red rectangle):
3. Log out the user and log back in for the change to take effect.

Recording Audio

• roslaunch audio_capture capture_all.launch starts publishing audio from built-in microphone to /audio_mic/audio and onboard sounds to /audio_onboard/audio topics
• roslaunch audio_capture capture_all_bag.launch same as above + launches an audio_bagger node, which starts and stops rosbagging audio based on a Bool from the record_audio topic; for example rostopic pub record_audio std_msgs/Bool 1 starts the rosbagging.

Playing audio

• roslaunch audio_play play_all.launch plays audio published to /audio_mic/audio and /audio_onboard/audio topics. Use rosbag play to supply the audio.

NOTE: The mic and onboard audio is out of sync by a few seconds.