qrb_ros_audio_common

Overview

qrb_ros_audio_common is a ros2 package to provice two action for playback and capture. Load qrb_audio_common_lib lib for pulseaudio stream control.

Load node

start two node with launch file

(ssh) ros2 launch qrb_ros_audio_common component.launch.py

start two node with singal command

(ssh) ros2 run qrb_ros_audio_common audio_common_node_exec --ros-args -p Stream_type:="playback" -p action_name:="ros_audio_playback" -p topic_name:="ros_audio_data"
(ssh) ros2 run qrb_ros_audio_common audio_common_node_exec --ros-args -p Stream_type:="capture" -p action_name:="ros_audio_capture" -p topic_name:="ros_audio_data"

After start two node, will start to action server, ros_audio_playback and ros_audio_capture. Send goal to action server can open/start/mute/stop/close stream.

Client usesage

Open command, playback/capture from/to local file:

(ssh) ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
        audio_info: {
            channels: 2,
            sample_rate: 48000,
            sample_format: 16
          },
          command: 'open',
          volume: 100,
          file_path: '/tmp/xxx.wav',
          repeat: 1
        }"

<action_name> is passed by parameter action_name. For playback from file audio_info is no need to pass. will overwrite by audio info read from file. For Capture audio_info need pass.

Open command, playback/capture from/to topic:

(ssh) ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
        audio_info: {
            channels: 2,
            sample_rate: 48000,
            sample_format: 16
          },
            command: 'open',
            volume: 100,
            topic_name: "pcm_topic",
            pub_pcm: true,
      }"

for pcm topic, pub_pcm need set to true, and no need pass file_path. Both playback and capture need pass audio_info.

If open command succeed, will return stream handle.

stop/mute/stop/close command:

(ssh) ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
          command: "start",
          stream_handle: <stream_handle>,
      }"
      ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
          command: "mute",
          mute: "true",
          stream_handle: <stream_handle>,
      }"

      ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
          command: "stop",
          stream_handle: <stream_handle>,
      }"

      ros2 action send_goal <action_name> qrb_ros_audio_common_msgs/action/AudioCommon "{
          command: "close",
          stream_handle: <stream_handle>,
      }"

<stream_handle> is return from open command.