Hello,

I'm trying to get back the sound from the 4 Nao's microphones to a remote PC. I'm looking for a Node which could do that.

I tried to use the AlSoundProcessing.cpp and .h from the SDK ( https ://community.aldebaran-robotics.com/doc/1-14/naoqi/audio/alaudiodevice.html#alaudiodevice ). I managed to get the data but I receive a kind of package with 8192 values for each microphone at each callback: { [8192],[8192],[8192],[8192] } How can I play that on my speaker?

On the other hand, I also tried the audiocommon node: http ://wiki.ros.org/audiocommon. The only problem here I have to to launch the node on Nao otherwise it uses the microphone from my laptop. I managed to install ROS on Nao with this tutorial: http ://wiki.ros.org/nao/Installation/local. After installation, I can run roscore, that's fine. But how may I add new package (like audio_common) to this ROS because I can't use apt-get, I can't create ROS workspace (get some errors with CMake).

Anyone got an idea?

Thanks,