How to play a wav content with the bitrate of 256kbps by audio_play?

edit

Firstly, audio_play was not designed to be used this way; it's really only designed as an endpoint for data from audio_capture (and it's barely good at that). If you want to play wave files or do text to speech, I suggest you start with sound_play and only move to audio_play if that doesn't work for you.

I was able to reproduce your issue with the instructions you provided; they're very complete!

I found two issues:

The first was that your program segfaults (memory error) when I try to run it. This is a bug in your program and not really related to the bit rate, but it only happened with the 256kbps file because it was a larger file. Your file read code was corrupting memory and crashing your program. You can see more details about this bu running your program with valgrind:

rosrun --prefix valgrind test_bite_rate_audio_play_server test_bite_rate_audio_play_server

Once I fixed your test program, the second thing I found is that audio_play expects all of the data at the same bit rate, so if you send it data at one bit rate it expects all of the data at that bit rate. This means that playing a 16kbps file and then a 256kbps file doesn't work. It also means that if you play a 256kbps file first, it works fine.

The fixed version of your program is:

int main (int argc, char **argv)
{
  ros::init(argc, argv, "test_bite_rate_audio_play_server");
  ros::NodeHandle _nh;
  ros::ServiceClient audioContentPublishClient = _nh.serviceClient<hlf_common_srv::AudioPublishData>("audio_content_publish_server");

  int total_count = 0;
  const int read_size = 1024;
  int buffer_size = read_size * 64; // initialize the buffer to 64k bytes
  char * audio_buffer = (char*)malloc(buffer_size); // allocate the initial buffer
  //the next two lines, you should replace the file path for your local environment
  FILE *fp_test = fopen("/home/turtlebot/catkin_ws/src/test_bite_rate_audio_play_server/res/test2.wav", "r"); // this is no sound, it's bite rate is 256kbps
  //FILE *fp_test = fopen("/home/turtlebot/catkin_ws/src/test_bite_rate_audio_play_server/res/test1.wav", "r"); // this is ok, the bite rate is 16kbps

  if (fp_test == NULL) {
    ROS_INFO("Open file failed");
    return 1;
  }

  int read_count = fread(audio_buffer, 1, read_size, fp_test);
  total_count = read_count;

  while(read_count == read_size)
  {
    // if there isn't enough space in the buffer for the next read, realloc
    // to increase the buffer size
    if(total_count + read_count > buffer_size) {
      buffer_size *= 2;
      audio_buffer = (char*)realloc(audio_buffer, buffer_size);
    }

    read_count = fread(audio_buffer + total_count, 1, read_size, fp_test);
    total_count += read_count;
  }

  fclose(fp_test);
  //ROS_INFO("wav data : %s \n", tts_receive_data); 
  ROS_INFO("total_count : %d \n", total_count);

  hlf_common_srv::AudioPublishData audio_publish_msg;
  audio_publish_msg.request.audioPlayContent = std::string( audio_buffer, total_count );
  audioContentPublishClient.call(audio_publish_msg);

  ROS_INFO("test server is over.");

  ros::spin();
}