Reply To: Recording audio stream from ROS – data type error

HARK FORUM Recording audio stream from ROS – data type error Reply To: Recording audio stream from ROS – data type error

#1123
jm
Participant

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 hark_msgs/HarkWave.

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.