I am using the package
ros-kinetic-audio-capture to stream the audio from the built-in microphone of the robot.
With this package it is possible to stream audio data in wave format:
PARAMETERS * /audio_capture/channels: 1 * /audio_capture/depth: 16 * /audio_capture/device: plughw:1,0 * /audio_capture/format: wave * /audio_capture/sample_rate: 16000 * /rosdistro: kinetic * /rosversion: 1.12.14 NODES / audio_capture (audio_capture/audio_capture)
The data structure of the data stream
audio_common_msgs/AudioData is as follows:
user@laptop:~$ rosmsg show audio_common_msgs/AudioData uint8 data
Therefore, it is not compatible with the data structure of
Is there a practical way to make the data structure of
audio_common_msgs/AudioData compatible with Hark?
Otherwise, would you suggest another package different than
ros-kinetic-audio-capture in order to have Hark-compatible access to the data from the robot’s built-in microphone?
Thanks in advance.