ROS Index
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Repository Summary
| Description | A PortAudio based audio_common with text to speech for ROS 2 |
| Checkout URI | https://github.com/mgonzs13/audio_common.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | audio text-to-speech pyaudio tts espeak ros2 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| audio_common | 4.0.5 |
| audio_common_msgs | 4.0.5 |
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.
[](https://opensource.org/license/mit) [](https://github.com/mgonzs13/audio_common/releases) [](https://github.com/mgonzs13/audio_common?branch=main) [](https://github.com/mgonzs13/audio_common/commits/main) [](https://github.com/mgonzs13/audio_common/issues) [](https://github.com/mgonzs13/audio_common/pulls) [](https://github.com/mgonzs13/audio_common/graphs/contributors) [](https://github.com/mgonzs13/audio_common/actions/workflows/cpp-formatter.yml?branch=main)
| ROS 2 Distro | Branch | Build status | Docker Image | Documentation |
| :----------: | :----------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------------: | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| **Foxy** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/foxy-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=foxy) | [](https://mgonzs13.github.io/audio_common/latest) |
| **Galactic** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/galactic-docker-build.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=galactic) | [](https://mgonzs13.github.io/audio_common/latest) |
| **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/latest) |
| **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/latest) |
| **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/latest) |
| **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/latest) |
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
colcon build
Docker
You can create a docker image to test audio_common. Use the following command 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. Possible values are: - `1` (paFloat32 - 32-bit floating point) - `2` (paInt32 - 32-bit integer) - `8` (paInt16 - 16-bit integer) - `16` (paInt8 - 8-bit integer) - `32` (paUInt8 - 8-bit unsigned integer) Default: `8` (paInt16) The integer values correspond to PortAudio sample format flags. - **channels**: The number of audio channels to capture. Typically, `1` for mono and `2` for stereo. Default: `1` - **rate**: The sample rate that is how many samples per second should be captured. Default: `16000` - **chunk**: The size of each audio frame. Default: `512` - **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 play. Typically, `1` for mono and `2` for stereo. Default: `2` - The node automatically handles conversion between mono and stereo formats if needed. - **device**: The ID of the audio output device. A value of `-1` indicates that the default audio output device should be used. Default: `-1` #### ROS 2 Interfaces - **audio**: Topic subscriber to get the audio data to be played. Type: `audio_common_msgs/msg/AudioStamped`music_node
Node to play music from audio files in wav format.
Click to expand
#### Parameters - **chunk**: The size of each audio frame. Default: `2048` - **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` - **music_play**: Service to play audio files. Type: `audio_common_msgs/srv/MusicPlay` - Parameters: - `audio`: Name of a built-in audio sample (e.g., "elevator") - `file_path`: Path to a custom WAV file (ignored if audio is specified) - `loop`: Boolean to indicate if the audio should loop. Default: `false` - **music_stop**: Service to stop the currently playing music. Type: `std_srvs/srv/Trigger` - **music_pause**: Service to pause the currently playing music. Type: `std_srvs/srv/Trigger` - **music_resume**: Service to resume paused music. Type: `std_srvs/srv/Trigger`tts_node
Node to generate audio from text (TTS) using espeak.
Click to expand
#### Parameters - **chunk**: The size of each audio frame. 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` - Goal: - `text`: The text to convert to speech - `language`: The language to use for speech synthesis. Default: `"en"` - `volume`: The volume of the generated speech (0.0-1.0). Default: `1.0` - `rate`: The speech rate (1.0 is normal speed). Default: `1.0` - Feedback: - `audio`: The audio being currently played - Result: - `text`: The text that was converted to speechDemos
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'}"
Advanced TTS example with additional parameters:
ros2 action send_goal /say audio_common_msgs/action/TTS "{'text': 'Hello World', 'language': 'en-us', 'volume': 0.8, 'rate': 1.2}"
Music Player
ros2 run audio_common music_node
ros2 run audio_common audio_player_node
Play a built-in sample:
ros2 service call /music_play audio_common_msgs/srv/MusicPlay "{audio: 'elevator'}"
Play a custom WAV file:
ros2 service call /music_play audio_common_msgs/srv/MusicPlay "{file_path: '/path/to/your/file.wav'}"
Play with looping enabled:
ros2 service call /music_play audio_common_msgs/srv/MusicPlay "{audio: 'elevator', loop: true}"
Control playback:
ros2 service call /music_pause std_srvs/srv/Trigger "{}"
ros2 service call /music_resume std_srvs/srv/Trigger "{}"
ros2 service call /music_stop std_srvs/srv/Trigger "{}"
CONTRIBUTING
No CONTRIBUTING.md found.
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