Just a simple package/script to get audio using arecord and publishing it in a audio_common_msgs/AudioData message.
rosrun audio_stream_arecord_hack audio_streamer_arecord.py
or
roslaunch audio_stream_arecord_hack audio_stream.launch
You should see your data spitting out at:
rostopic echo /audio_stream/audio_data
You can change the blocksize, so the amount of data on every message. You can also change the arecord command to your needed flags.
Easiest way is to change the launchfile that looks like:
<launch>
<node name="audio_stream"
pkg="audio_stream_arecord_hack"
type="audio_streamer_arecord.py"
output="screen"
args="2048 arecord -f S16_LE -r 16000 -t raw">
<!-- first argument is blocksize, the rest is the full arecord command -->
</launch> rosrun audio_stream_arecord_hack audio_topic_plotter.py
Change the topic with:
rosrun audio_stream_arecord_hack audio_topic_plotter.py /audio_stream/audio_data:=/your_AudioData_topic
Requires:
sudo pip install pyqtgraph
sudo apt-get install python-qt4
sudo apt-get install python-numpy
Just in case you need a super basic way of plotting the audio data... you can use gnuplot_audio_data.py script. It calls with subprocess gnuplot.
You may want to tune up the line gnuplot.stdin.write("set term dumb 200 60\n") which sets the number of characters on X and Y to use for the plot.
Looks like this:
40000 ++---------+-----------+----------+----------+-----------+---------++
+ + + + + Line1 **A*** +
30000 ++ A AA A A A AA AA A ++
| A *A AAAA A AAAA AAAA |
| A A A AA AA** A A*AA *AAA |
20000 ++ A A A A A* *A*A AA*AAAA A AAAA A ++
| AA AA A A A A AA AAA* A A A*AAA AA **A A |
10000 ++AA AA AA A A* AAA A *A *A*A A A A AAA AA AA* A ++
| AA AA AA A AA AAAA A AA AAA* A A A AAAA A AAA A |
| * AAA * AAA *AAA A A*AA A *AAA AA*A A A A A*AA A *AAA |
0 A+A AAA A **A AAAA A A AA** A AAAA AAA *AAA A AAAA A AA A ++
A A *AA A AAA AA AAA AAAAAAA AAAAA AA* AAAA A AA A A *A A |
-10000 A+A AAAA A *AAAAA AAAAAA *AAA AAAAAAA*A A AA AA A A AA A ++
AAA *AAA A A* AA AAAAAA AAAA AA AAAAAA A A A A A* |
|AA AAAAAA AA AA AA AAA AA*A AA A A AA A A *A |
-20000 ++A AAA AA AA AA AA AAAA A* A *A A A AA ++
| A AA AA AA AA AAAA AA AA |
-30000 ++ A AA AA A AA AAAA A *A ++
| A A AA A AA AA A AA |
+ + + + + + +
-40000 ++---------+-----------+----------+----------+-----------+---------++
0 200 400 600 800 1000 1200