capra_audio_common

This package lets you stream audio between the computer and the robot. THIS REPOSITORY IS BASED ON THE ROS_DRIVER/AUDIO_COMMON REPOSITORY.

How to install the dependancies

rosdep install --from-paths <PATH TO CAPRA_AUDIO_COMMON_SRC_FOLDER> --ignore-src --rosdistro melodic -y

Compile and source the package

In the capra_audio_common workspace folder launch catkin_make command. Once the compiling is successful you can source the workspace with source devel/setup.bash (If you use zsh, source the setup.zsh file)

Launch procedure

Before starting, be sure to have your .bashrc correctly setup, see the first step of the 'Troubleshooting' section.

Normal use

Through the Capra web user interface

On the computer running the UI, you have to press two buttons to communicate both ways with the robot. First, click on "Audio start" on the bottom bar. Second, through the "Launch" tab in "Config", select the launch button for the Robot's audio.

Through your terminal

In a terminal connected to the robot, run this command:

roslaunch capra_audio audio_robot.launch

Then, in a local terminal, run the command for local audio:

roslaunch capra_audio audio_ui.launch

How to stream audio between two computer for testing purposes

Start capturing audio

On the computer you want to capture the audio capture, execute this command:

roslaunch audio_capture capture.launch

Start listening audio

On the computer, you want to listen to the audio captured, execute this command:

roslaunch audio_play play.launch do_timestamp:=false

Troubleshooting

• Cannot see the data from the audio topic
  • Check if the following configuration in the bashrc of both computer:

  export ROS_IP=<LOCAL PC IP>
  export ROS_HOSTNAME=<LOCAL PC IP>
  export ROS_MASTER_URI=http://<ROS MASTER IP>:11311/
  

• If you can get the audio data but can’t hear it
  • This one can be tricky because you are dealing with devices on Linux. So the first thing you want to try is to test if you can hear with your speaker. You can launch speaker-test, which will blast white noise. If you can’t hear anything this means that the default audio device is configured incorrectly.
  • Now list the existing audio device with the command: pacmd list-sinks.
  • Set the default output device with the command: pacmd set-default-sink <output audio device>
  • For more information : https://askubuntu.com/questions/14077/how-can-i-change-the-default-audio-device-from-command-line[https://askubuntu.com/questions/14077/how-can-i-change-the-default-audio-device-from-command-line]
• To setup the default input device
  • List the input audio device with pactl list short sink-inputs
  • Set the default audio device with pacmd set-default-source <input audio device>

ROS audio_common Package

This repository contains the ROS audio_common package.

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

Topic name

The default topic name for the audio capture and play is "audio" you can change it in the launch files in capra_audio/launch