Microphone Node

Overview

The Microphone Node package is responsible for capturing audio data from a microphone and publishing it to a ROS topic. This package is designed to work seamlessly with other speech processing nodes in the TIAGo robot's speech recognition pipeline.

Features

• Audio Capture: Captures audio data from a specified microphone device.
• ROS Integration: Publishes audio data to a ROS topic for use by other nodes.

Requirements

• ROS version: Noetic
• Dependencies:
  • audio_common

Installation

0. Install the audio_common package

sudo apt-get install ros-noetic-audio-common

1. Clone the repository

cd ~/<your_workspace>/src
git clone https://github.com/certafonso/microphone_node.git

2. Install dependencies

Navigate to the cloned repository and install the required dependencies:

cd microphone_node
pip install -r requirements.txt

3. Build the workspace

Navigate to your catkin workspace and build the package:

cd ~/<your_workspace>
catkin build

4. Source the setup file

After building, source the workspace to update the environment:

source ~/<your_workspace>/devel/setup.bash

Usage

Launching the Node

To launch the microphone node, use the following command:

roslaunch microphone_node microphone_node.launch

Launch File Arguments

The launch file microphone_node.launch accepts several arguments to customize the behavior of the microphone node:

• microphone_device: Specifies the microphone device to be used. Default is "default" which will use the default microphone of the computer.