Audio Transporter ROS Nodes ROS nodes that provides audio-type topics. It's a fork of rosjack ROS package. Installation $ sudo apt install libjack-dev $ sudo apt install jack jackd List of your sound cards $ cat /proc/asound/cards Running JACK server $ jackd -R -P1 -dalsa -p512 -n4 -D -Chw:0 -Phw:0