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audio_common for ROS2

asked 2020-06-04 02:55:50 -0500

anthares gravatar image

Hi everyone, is there any audio_common equivalent package for ROS2?

Thanks in advance, Cheers, G.

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I have the same question and am not sure whether the project linked in the accepted answer actually addresses this. Hence, I opened a question on the github of github_common:

Georg Bartels gravatar image Georg Bartels  ( 2022-02-02 03:04:44 -0500 )edit

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answered 2020-06-12 02:09:28 -0500

BrettRD gravatar image

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

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.

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Hi BrettRD, thanks for starting and sharing such an ambitious project! My use-case is closer to the original audio_common: Play one from a set of audio files located on disk through ROS commands. Do you have a tutorial or instructions on how to do this with your project? I failed to find this on the linked github page. Cheers!

Georg Bartels gravatar image Georg Bartels  ( 2022-02-02 03:00:55 -0500 )edit

I don't have many examples of using ROS for audio. I have some improvements penciled in for this year though, that includes more docs.

Off the top of my head, A pipeline like this should do something, (something might include eating all of your network bandwidth with raw audio):

Machine with the mic:

gst-launch-1.0 --gst-plugin-path=install/gst_bridge/lib/gst_bridge/ alsasrc ! audioconvert ! rosaudiosink ros-name="mic_node" ros-topic="very_noise"

Machine with the speakers:

gst-launch-1.0 --gst-plugin-path=install/gst_bridge/lib/gst_bridge/ rosaudiosrc ros-name="spk_node" ros-topic="very_noise"  ! audioconvert ! alsasink sync=false

If you have a burning need for compressed audio in ROS, I'd love to field a pull request (even one that doesn't yet work) for a ROS message wrapper and bridge nodes that handle raw GST buffers.

rosrawsink and rosrawsrc are on my wish-list.

At the moment, I use GStreamer's UDP elements to move H264 video, not ROS topics.

BrettRD gravatar image BrettRD  ( 2022-02-02 04:26:28 -0500 )edit

answered 2022-02-08 06:58:37 -0500

knorth55 gravatar image

Hi, I'm a maintainer of audio_common. Now, I have no time to implement ROS2 version of audio_common, but I can do it after these busy days. If you are interested in helping me, please visit audio_common repo and have a discussion there.

I look forward to seeing your contribution to audio_common repo.

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answered 2020-06-12 01:21:43 -0500

anthares gravatar image

I have ended up creating my own custom message to wrap audio data.

Cheers, g.

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Asked: 2020-06-04 02:55:50 -0500

Seen: 473 times

Last updated: Feb 08