HARMONI Microphone
The harmoni_microphone package provides a simple wrapper around the microphone for publishing audio data.
You can run this module in both harmoni_full and harmoni_hardware containers.
Usage
The following documentation refers to the Microphone request.
The API for Microphone has:
Request Name: ActionType: START (to start the Microphone sensing)
Body: no body
Response: no response only State (int)
Request Name: ActionType: STOP (to stop the Microphone sensing)
Body: no body
Response: no response only State (int)
Configure hardware using the guide Run using
roslaunch harmoni_microphone microphone_service.launch
Parameters
Parameters input for the microphone service:
Parameters |
Definition |
Values |
|---|---|---|
audio_format_width |
width of the audio format |
int; 2 |
chunk_size |
the size of the chunk audio to stream and publish |
int; e.g., 1600 or 4800 |
total_channels |
number of channels depends on the microphone characteristics |
int; 1 |
audio_rate |
rate of the audio depends on the microphone characteristics |
int; e.g., 16000, or 48000 |
device_name |
name of the device you get from arecord -l |
str; “CBHT Audio: USB Audio (hw:1,0)” |
test_outdir |
path of the file that you get as output from testing |
str; “$(find harmoni_microphone)/temp_data/test_example.wav” |
Testing
Module can be tested using
rostest harmoni_microphone microphone.test