sounddevice_ros

This ROS Catkin package is a wrapper around the sounddevice python package located here: https://python-sounddevice.readthedocs.io/en/0.3.13/

Installation Instructions

1. Install sounddevice and soundfile:

   pip install sounddevice pysoundfile

2. Install PortAudio and ASound:

   sudo apt-get install libportaudio2 libasound-dev

3. Clone this repository into your catkin_ws/src folder:

   cd ~/catkin_ws/src
   git clone https:/firephinx/sounddevice_ros.git

4. Run catkin_make in your catkin_ws folder:

   cd ..
   catkin_make

Run Instructions

1. Source the devel/setup.bash and start the sound device publisher:

   source devel/setup.bash
   rosrun sounddevice_ros sounddevice_ros_publisher_node.py

2. Open a new terminal, source the devel/setup.bash, and start the sound device subscriber:

   source ~/catkin_ws/devel/setup.bash
   rosrun sounddevice_ros sounddevice_ros_subscriber_node.py

Options

Sounddevice ROS Publisher Node

1. You can list available devices by first running:

   rosrun sounddevice_ros sounddevice_ros_publisher_node.py -l

2. You can select your desired input device by using the -d flag:

   rosrun sounddevice_ros sounddevice_ros_publisher_node.py -d <device id or substring>

3. You can set the sample rate by using the -r flag:

   rosrun sounddevice_ros sounddevice_ros_publisher_node.py -r <sample_rate>

4. You can set the number of channels by using the -c flag (default is 1):

   rosrun sounddevice_ros sounddevice_ros_publisher_node.py -c <num_channels>

5. You can set whether to save the audio to a wav file using the -s flag (default is False):

   rosrun sounddevice_ros sounddevice_ros_publisher_node.py -s True

6. If you want to save the audio to a wave file, you can set the filename (default is a random temp filename):

   rosrun sounddevice_ros sounddevice_ros_publisher_node.py -s True [Filename]

7. If you want to set the subtype for soundfile saving, you can use the -t flag:

   rosrun sounddevice_ros sounddevice_ros_publisher_node.py -t PCM_24

Sounddevice ROS Subscriber Node

1. You can set the filename that the audio will be saved to (default is a random temp filename):

   rosrun sounddevice_ros sounddevice_ros_subscriber_node.py [Filename]

2. If you did not already set the subtype for soundfile saving when starting the publisher node, you can use the -t flag:

   rosrun sounddevice_ros sounddevice_ros_publisher_node.py -t PCM_24