From 14e1694926b0c629da89dea2d14d4719edf3b5bf Mon Sep 17 00:00:00 2001
From: Hauke Schnau <hauke@schnau-lilienthal.de>
Date: Tue, 25 Apr 2023 17:25:07 +0200
Subject: [PATCH 1/6] add audio launch file

---
 bitbots_utils/launch/audio.launch | 29 +++++++++++++++++++++++++++++
 bitbots_utils/launch/tools.launch | 19 +++++++++++++++----
 bitbots_utils/package.xml         |  1 +
 3 files changed, 45 insertions(+), 4 deletions(-)
 create mode 100644 bitbots_utils/launch/audio.launch

diff --git a/bitbots_utils/launch/audio.launch b/bitbots_utils/launch/audio.launch
new file mode 100644
index 000000000..e9c50cbc0
--- /dev/null
+++ b/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="wav"/>
+    <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>
diff --git a/bitbots_utils/launch/tools.launch b/bitbots_utils/launch/tools.launch
index b90dc30c1..d525d11d1 100644
--- a/bitbots_utils/launch/tools.launch
+++ b/bitbots_utils/launch/tools.launch
@@ -1,8 +1,19 @@
 <?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" />
+    <arg name="sim" default="false" description="Wether we are in a simulation environment" />
 
-    <include file="$(find-pkg-share udp_bridge)/launch/send.launch" />
+    <group>
+        <include file="(find-pkg-share bitbots_utils)/launch/audio.launch">
+            <arg name="sim" value="$(var sim)" />
+        </include>
+    </group>
+
+    <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>
diff --git a/bitbots_utils/package.xml b/bitbots_utils/package.xml
index 7e3e856f2..ba683b050 100644
--- a/bitbots_utils/package.xml
+++ b/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>

From 8c463c4f9fa5a063093a921d4a9f6dfce3949ef4 Mon Sep 17 00:00:00 2001
From: Hauke Schnau <hauke@schnau-lilienthal.de>
Date: Wed, 26 Apr 2023 18:32:17 +0200
Subject: [PATCH 2/6] fix typo in audio.launch

---
 bitbots_utils/launch/audio.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bitbots_utils/launch/audio.launch b/bitbots_utils/launch/audio.launch
index e9c50cbc0..4f1cc3cf8 100644
--- a/bitbots_utils/launch/audio.launch
+++ b/bitbots_utils/launch/audio.launch
@@ -3,7 +3,7 @@
     <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="wav"/>
+    <arg name="format" default="wave"/>
     <arg name="bitrate" default="128"/>
     <arg name="channels" default="1"/>
     <arg name="depth" default="16"/>

From bc737424d4c751bc2f34bf2aa64c5034ea0c4882 Mon Sep 17 00:00:00 2001
From: Hauke Schnau <hauke@schnau-lilienthal.de>
Date: Wed, 26 Apr 2023 18:37:15 +0200
Subject: [PATCH 3/6] add README.md with audio recording and playing
 instructions

---
 bitbots_utils/launch/README.md | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)
 create mode 100644 bitbots_utils/launch/README.md

diff --git a/bitbots_utils/launch/README.md b/bitbots_utils/launch/README.md
new file mode 100644
index 000000000..36a5f9a64
--- /dev/null
+++ b/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 format:=wave
+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
+```

From 661793e5fa6ab9fa1246c1e3c739409d3f6f7c2b Mon Sep 17 00:00:00 2001
From: Hauke Schnau <hauke@schnau-lilienthal.de>
Date: Thu, 27 Apr 2023 14:58:18 +0200
Subject: [PATCH 4/6] add sample_rate argument in README.md

---
 bitbots_utils/launch/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bitbots_utils/launch/README.md b/bitbots_utils/launch/README.md
index 36a5f9a64..d45c96d46 100644
--- a/bitbots_utils/launch/README.md
+++ b/bitbots_utils/launch/README.md
@@ -13,5 +13,5 @@ Launch these commands in parallel:
 
 ```bash
 ros2 bag play <bagfile> --loop
-ros2 launch audio_play play.launch.xml format:=wave
+ros2 launch audio_play play.launch.xml format:=wave sample_rate:=10000
 ```

From 90c0ee62ac1fb1a2efeccaf542dbc1c1b7959188 Mon Sep 17 00:00:00 2001
From: Hauke Schnau <hauke@schnau-lilienthal.de>
Date: Fri, 28 Apr 2023 13:26:48 +0200
Subject: [PATCH 5/6] drop wav default from docs example

---
 bitbots_utils/launch/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bitbots_utils/launch/README.md b/bitbots_utils/launch/README.md
index d45c96d46..4eb687047 100644
--- a/bitbots_utils/launch/README.md
+++ b/bitbots_utils/launch/README.md
@@ -3,7 +3,7 @@
 Launch these commands in parallel:
 
 ```bash
-ros2 launch bitbots_utils audio.launch format:=wave
+ros2 launch bitbots_utils audio.launch
 ros2 bag record /audio/audio /audio/audio_info
 ```
 

From 7758165caf396e0863ec61e26a36c8eaf533276c Mon Sep 17 00:00:00 2001
From: Hauke Schnau <hauke@schnau-lilienthal.de>
Date: Fri, 28 Apr 2023 15:38:02 +0200
Subject: [PATCH 6/6] move audio launch to highlevel

---
 bitbots_bringup/launch/highlevel.launch | 8 ++++++++
 bitbots_utils/launch/tools.launch       | 7 -------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/bitbots_bringup/launch/highlevel.launch b/bitbots_bringup/launch/highlevel.launch
index baae13cae..b6b8cc073 100644
--- a/bitbots_bringup/launch/highlevel.launch
+++ b/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="$(var sim)" />
+        </include>
+    </group>
 </launch>
diff --git a/bitbots_utils/launch/tools.launch b/bitbots_utils/launch/tools.launch
index d525d11d1..540c6342c 100644
--- a/bitbots_utils/launch/tools.launch
+++ b/bitbots_utils/launch/tools.launch
@@ -1,13 +1,6 @@
 <?xml version="1.0"?>
 <launch>
     <arg name="monitoring" default="true" description="true: start system monitor and udp bridge" />
-    <arg name="sim" default="false" description="Wether we are in a simulation environment" />
-
-    <group>
-        <include file="(find-pkg-share bitbots_utils)/launch/audio.launch">
-            <arg name="sim" value="$(var sim)" />
-        </include>
-    </group>
 
     <group if="$(var monitoring)">
         <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch">