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I'm trying to build that now.

The ROS topic bridges aren't working yet, but it'll happily stream audio from a robot's sound card to a remote machine or play canned audio

https://github.com/BrettRD/ros-gst-bridge

Audio-common was too limited for my application, I've used image messages for audio with a custom encoding string in the past, but I'm about to define some new messages. I'd be glad to have some input.