How to write AudioData message into wav file?

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I'm using ReSpeaker Mic Array v2.0 on my robot, I used the following git repo: https://github.com/furushchev/respeak... to capture the audio received by the speaker. I subscribed to it's raw audio topic /audio.

How can I write the AudioData message's uint8[] data into a wav file in C++? I would like to play the wav file by other means afterwards.

I saw that in ros audio_common library example it uses gstreamer to do the writing, but I'm quite confused after reading the code(https://github.com/ros-drivers/a...