[audio_listener-1] ALSA lib error

[codingBigBird]

After getting some updates, My whisper can't run and it gives some errors when running
ros2 launch whisper_bringup bringup.launch.py.
And there is no audio_listener node on ros2 node list and the server doesn't run.
how to solve this issue?

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [audio_listener-1]: process started with pid [66674]
[INFO] [component_container_mt-2]: process started with pid [66676]
[audio_listener-1] ALSA lib confmisc.c:1369:(snd_func_refer) Unable to find definition 'cards.1.pcm.hdmi.0:CARD=1,AES0=4,AES1=130,AES2=0,AES3=2'
[audio_listener-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
[audio_listener-1] ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
[audio_listener-1] ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM hdmi
[audio_listener-1] ALSA lib confmisc.c:1369:(snd_func_refer) Unable to find definition 'cards.1.pcm.hdmi.0:CARD=1,AES0=4,AES1=130,AES2=0,AES3=2'
[audio_listener-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
[audio_listener-1] ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
[audio_listener-1] ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM hdmi
[audio_listener-1] ALSA lib confmisc.c:1369:(snd_func_refer) Unable to find definition 'cards.1.pcm.modem.0:CARD=1'
[audio_listener-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
[audio_listener-1] ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
[audio_listener-1] ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.phoneline:CARD=1,DEV=0
[audio_listener-1] ALSA lib confmisc.c:1369:(snd_func_refer) Unable to find definition 'cards.1.pcm.modem.0:CARD=1'
[audio_listener-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
[audio_listener-1] ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
[audio_listener-1] ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.phoneline:CARD=1,DEV=0
[audio_listener-1] ALSA lib confmisc.c:1369:(snd_func_refer) Unable to find definition 'cards.1.pcm.modem.0:CARD=1'
[audio_listener-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
[audio_listener-1] ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
[audio_listener-1] ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM phoneline
[audio_listener-1] ALSA lib confmisc.c:1369:(snd_func_refer) Unable to find definition 'cards.1.pcm.modem.0:CARD=1'
[audio_listener-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
[audio_listener-1] ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
[audio_listener-1] ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM phoneline
[audio_listener-1] ALSA lib pcm_oss.c:397:(_snd_pcm_oss_open) Cannot open device /dev/dsp
[audio_listener-1] ALSA lib pcm_oss.c:397:(_snd_pcm_oss_open) Cannot open device /dev/dsp
[audio_listener-1] ALSA lib confmisc.c:160:(snd_config_get_card) Invalid field card
[audio_listener-1] ALSA lib pcm_usb_stream.c:482:(_snd_pcm_usb_stream_open) Invalid card 'card'
[audio_listener-1] ALSA lib confmisc.c:160:(snd_config_get_card) Invalid field card
[audio_listener-1] ALSA lib pcm_usb_stream.c:482:(_snd_pcm_usb_stream_open) Invalid card 'card'

[mhubii]

Seems like you are having trouble running the audio driver

[codingBigBird]

Hi mhubii, thanks for reaching with me.
Yes I know this is the problem of audio driver, but there is a few solution on the internet. I tried 'https://stackoverflow.com/questions/7088672/pyaudio-working-but-spits-out-error-messages-each-time' but it did not work. Anything else I can do to fix the it?

[mhubii]

so essentially I have no experience with that sorry. But you need to be able and run this node for grabbing audio (also launched as part of the bringup package):

ros2 run audio_listener audio_listener

[codingBigBird]

Hi I solve the ALSA lib problem. https://stackoverflow.com/questions/65079325/problem-with-alsa-in-speech-recognitionpython-3
But the server doesn't run in ros. Sorry about these questions I don't know so much about ROS2.

[mhubii]

No worries, maybe try pull the latest changes.

You can list nodes in terminal with ros2 node list.

You can run rqt_graph to observe the ROS 2 graph.

[TheHassanShahzad]

Hi i had the same problem but I managed to find a fix

Initially i ran `ros2 run audio_listener audio_listener` but got these errors:
ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.rear
ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.center_lfe
ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.side
ALSA lib pcm_route.c:877:(find_matching_chmap) Found no matching channel map
ALSA lib pcm_route.c:877:(find_matching_chmap) Found no matching channel map
ALSA lib pcm_route.c:877:(find_matching_chmap) Found no matching channel map
ALSA lib pcm_route.c:877:(find_matching_chmap) Found no matching channel map
ALSA lib pcm_oss.c:397:(_snd_pcm_oss_open) Cannot open device /dev/dsp
ALSA lib pcm_oss.c:397:(_snd_pcm_oss_open) Cannot open device /dev/dsp
ALSA lib confmisc.c:160:(snd_config_get_card) Invalid field card
ALSA lib pcm_usb_stream.c:482:(_snd_pcm_usb_stream_open) Invalid card 'card'
ALSA lib confmisc.c:160:(snd_config_get_card) Invalid field card
ALSA lib pcm_usb_stream.c:482:(_snd_pcm_usb_stream_open) Invalid card 'card'
^CTraceback (most recent call last):
  File "/home/hassan/ros2_ws/install/audio_listener/lib/audio_listener/audio_listener", line 33, in <module>
    sys.exit(load_entry_point('audio-listener==1.3.1', 'console_scripts', 'audio_listener')())
  File "/home/hassan/ros2_ws/install/audio_listener/lib/python3.10/site-packages/audio_listener/audio_listener.py", line 71, in main
    rclpy.spin(audio_listener)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin
    executor.spin_once()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
    self._spin_once_impl(timeout_sec)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 734, in _spin_once_impl
    handler()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 437, in handler
    await call_coroutine(entity, arg)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 351, in _execute_timer
    await await_or_execute(tmr.callback)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
    return callback(*args)
  File "/home/hassan/ros2_ws/install/audio_listener/lib/python3.10/site-packages/audio_listener/audio_listener.py", line 53, in audio_publisher_timer_callback_
    audio = self.stream_.read(self.frames_per_buffer_)
  File "/home/hassan/.local/lib/python3.10/site-packages/pyaudio/__init__.py", line 570, in read
    return pa.read_stream(self._stream, num_frames,
KeyboardInterrupt
[ros2run]: Interrupt

The main problem was pyaudio was not finding a valid microphone input

I ran:
arecord -l

to ensure a mic device was even available on my system

then ran this in a seperate file to get the necessary data from my mic:

p = pyaudio.PyAudio()
for i in range(p.get_device_count()):
    print(p.get_device_info_by_index(i))

from this i got the sample rate which i modified in

        self.declare_parameters(
            namespace="",
            parameters=[
                ("channels", 1),
                ("frames_per_buffer", 1000),
                ("rate", 44100),
            ],
        )

and replaced the bit of code beneath that with this:

        self.stream_ = self.pyaudio_.open(
            channels=self.channels_,
            format=pyaudio.paInt16,
            input=True,
            frames_per_buffer=self.frames_per_buffer_,
            rate=self.rate_,
            input_device_index=0  # Using device index 0 for ALC298 Analog
        )

Now when i run the node, i get these errors:

ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.rear
ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.center_lfe
ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.side
ALSA lib pcm_route.c:877:(find_matching_chmap) Found no matching channel map
ALSA lib pcm_route.c:877:(find_matching_chmap) Found no matching channel map
ALSA lib pcm_route.c:877:(find_matching_chmap) Found no matching channel map
ALSA lib pcm_route.c:877:(find_matching_chmap) Found no matching channel map
ALSA lib pcm_oss.c:397:(_snd_pcm_oss_open) Cannot open device /dev/dsp
ALSA lib pcm_oss.c:397:(_snd_pcm_oss_open) Cannot open device /dev/dsp
ALSA lib confmisc.c:160:(snd_config_get_card) Invalid field card
ALSA lib pcm_usb_stream.c:482:(_snd_pcm_usb_stream_open) Invalid card 'card'
ALSA lib confmisc.c:160:(snd_config_get_card) Invalid field card
ALSA lib pcm_usb_stream.c:482:(_snd_pcm_usb_stream_open) Invalid card 'card'

but the code manages to publishes to the topic anyway so i guess it works

i can suppress the warnings by running:

ros2 run audio_listener audio_listener 2>/dev/null

[mhubii]

thanks again for providing the solution @TheHassanShahzad! Do you think this is something that can be solved generally?

[TheHassanShahzad]

i think so. Provided you have a script which can parse out the relevant information fit the microphone and automatically update the parameters in the node, it should be a general solution

a problem you may encounter is devices with multiple microphones but i'm not sure how you'd deal with that