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Repository Summary
| Checkout URI | https://github.com/mgonzs13/audio_common.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-23 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| audio_common | 4.0.4 |
| audio_common_msgs | 4.0.4 |
README
audio_capture
This repositiory provides a set of ROS 2 packages for audio. It provides a C++ version to capture and play audio data using PortAudio.
| ROS 2 Distro | Branch | Build status | Docker Image | Documentation |
| :----------: | :----------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------: | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| **Humble** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/humble-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=humble) | [](https://mgonzs13.github.io/audio_common/) |
| **Iron** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/iron-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=iron) | [](https://mgonzs13.github.io/audio_common/) |
| **Jazzy** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/jazzy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=jazzy) | [](https://mgonzs13.github.io/audio_common/) |
| **Rolling** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/rolling-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=rolling) | [](https://mgonzs13.github.io/audio_common/) |
Table of Contents
Installation
cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/audio_common.git
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
pip3 install -r audio_common/requirements.txt
colcon build
Docker
You can create a docker image to test audio_common. Use the following common inside the directory of audio_common.
docker build -t audio_common .
After the image is created, run a docker container with the following command.
docker run -it --rm --device /dev/snd audio_common
Nodes
audio_capturer_node
Node to obtain audio data from a microphone and publish it into the audio topic.
Click to expand
#### Parameters - **format**: Specifies the audio format to be used for capturing. Common values are `paInt16` (16-bit format) or other formats supported by PortAudio. Default: `paInt16` - **channels**: The number of audio channels to capture. Typically, `1` for mono and `2` for stereo. Default: `1` - **rate**: The sample rate that is is how many samples per second should be captured. Default: `16000` - **chunk**: The size of each audio frames. Default: `4096` - **device**: The ID of the audio input device. A value of `-1` indicates that the default audio input device should be used. Default: `-1` - **frame_id**: An identifier for the audio frame. This can be useful for synchronizing audio data with other data streams. Default: `""` #### ROS 2 Interfaces - **audio**: Topic to publish the audio data captured from the microphone. Type: `audio_common_msgs/msg/AudioStamped`audio_player_node
Node to play the audio data obtained from the audio topic.
Click to expand
#### Parameters - **channels**: The number of audio channels to capture. Typically, `1` for mono and `2` for stereo. Default: `2` - **device**: The ID of the audio input device. A value of `-1` indicates that the default audio input device should be used. Default: `-1` #### ROS 2 Interfaces - **audio**: Topic subscriber to get the audio data captured to be played. Type: `audio_common_msgs/msg/AudioStamped`music_node
Node to play the music from a audio file in wav format.
Click to expand
#### Parameters - **chunk_time**: Time, in milliseconds, that last each audio chunk. Default: `50` - **frame_id**: An identifier for the audio frame. This can be useful for synchronizing audio data with other data streams. Default: `""` #### ROS 2 Interfaces - **audio**: Topic to publish the audio data from the files. Type: `audio_common_msgs/msg/AudioStamped`tts_node
Node to generate audio from a text (TTS).
Click to expand
#### Parameters - **chunk**: The size of each audio frames. Default: `4096` - **frame_id**: An identifier for the audio frame. This can be useful for synchronizing audio data with other data streams. Default: `""` #### ROS 2 Interfaces - **audio**: Topic publisher to send the audio data generated by the TTS. Type: `audio_common_msgs/msg/AudioStamped` - **say**: Action to generate audio data from a text. Type: `audio_common_msgs/action/TTS`Demos
Audio Capturer/Player
ros2 run audio_common audio_capturer_node
ros2 run audio_common audio_player_node
TTS
ros2 run audio_common tts_node
ros2 run audio_common audio_player_node
ros2 action send_goal /say audio_common_msgs/action/TTS "{'text': 'Hello World'}"
Music Player
ros2 run audio_common music_node
ros2 run audio_common audio_player_node
ros2 service call /music_play audio_common_msgs/srv/MusicPlay "{audio: 'elevator'}"
CONTRIBUTING
No CONTRIBUTING.md found.
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