Merge pull request #213 from bit-bots/feature/audio_launch_file

Add audio launch file

bitbots_bringup/launch/highlevel.launch

@@ -9,6 +9,7 @@
     <arg name="teamcom" default="false" description="Whether the team communication system should be started" />
     <arg name="vision" default="true" description="Whether the vision system should be started" />
     <arg name="world_model" default="true" description="Whether the world model should be started"/>
+    <arg name="audio" default="true" description="Whether the audio system should be started"/>
 
 
     <!-- launch game controller -->
@@ -75,4 +76,11 @@
             <arg name="sim" value="$(var sim)" />
         </include>
     </group>
+
+    <!-- launch audio processing -->
+    <group if="$(var audio)">
+        <include file="(find-pkg-share bitbots_utils)/launch/audio.launch">
+            <arg name="sim" value="$(var sim)" />
+        </include>
+    </group>
 </launch>

bitbots_utils/launch/README.md

@@ -0,0 +1,17 @@
+### How to record audio to ROS Bag
+
+Launch these commands in parallel:
+
+```bash
+ros2 launch bitbots_utils audio.launch
+ros2 bag record /audio/audio /audio/audio_info
+```
+
+### How to play audio from ROS Bag
+
+Launch these commands in parallel:
+
+```bash
+ros2 bag play <bagfile> --loop
+ros2 launch audio_play play.launch.xml format:=wave sample_rate:=10000
+```

bitbots_utils/launch/audio.launch

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="sim" default="false" description="If true, we don't capture audio" />
+    <arg name="dst" default="appsink"/>
+    <arg name="device" default=""/>
+    <arg name="format" default="wave"/>
+    <arg name="bitrate" default="128"/>
+    <arg name="channels" default="1"/>
+    <arg name="depth" default="16"/>
+    <arg name="sample_rate" default="10000"/>
+    <arg name="sample_format" default="S16LE"/>
+    <arg name="ns" default="audio"/>
+    <arg name="audio_topic" default="audio" />
+
+    <group unless="$(var sim)">
+        <include file="$(find-pkg-share audio_capture)/launch/capture.launch.xml">
+            <arg name="dst" value="$(var dst)"/>
+            <arg name="device" value="$(var device)"/>
+            <arg name="format" value="$(var format)"/>
+            <arg name="bitrate" value="$(var bitrate)"/>
+            <arg name="channels" value="$(var channels)"/>
+            <arg name="depth" value="$(var depth)"/>
+            <arg name="sample_rate" value="$(var sample_rate)"/>
+            <arg name="sample_format" value="$(var sample_format)"/>
+            <arg name="ns" value="$(var ns)"/>
+            <arg name="audio_topic" value="$(var audio_topic)"/>
+        </include>
+    </group>
+</launch>

bitbots_utils/launch/tools.launch

@@ -1,8 +1,12 @@
 <?xml version="1.0"?>
 <launch>
-    <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch">
-        <arg name="required" value="false" />
-    </include>
+    <arg name="monitoring" default="true" description="true: start system monitor and udp bridge" />
 
-    <include file="$(find-pkg-share udp_bridge)/launch/send.launch" />
+    <group if="$(var monitoring)">
+        <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch">
+            <arg name="required" value="false" />
+        </include>
+
+        <include file="$(find-pkg-share udp_bridge)/launch/send.launch" />
+    </group>
 </launch>

bitbots_utils/package.xml

@@ -24,6 +24,7 @@
     <exec_depend>wolfgang_description</exec_depend>
     <exec_depend>wolfgang_moveit_config</exec_depend>
     <exec_depend>xacro</exec_depend>
+    <exec_depend>audio_common</exec_depend>
     <depend>python3-yaml</depend>
     <depend>python3-transforms3d</depend>
     <depend>python3-numpy</depend>