nicoros - AudioPlayer

The AudioPlayer class allows to load and play audio files.

To start the interface run:

rosrun nicoros AudioPlayer.py

Exposed topics

The following ROS topics are exposed by the class - where $PREFIX stands for the prefix of the topics/services (Default: nico/audioplayer):

ROS topic name	Message type	Short description
$PREFIX/play	nicomsg/sf	Starts playback of an audio segment. Parameters: id: id of the audio assigned by the player volume: percentage of the volume (between 0 and 1)
$PREFIX/pause	nicomsg/s	Pauses the playback of an audio segment. Parameters: - id: id of the audio assigned by the player
$PREFIX/resume	nicomsg/s	Resumes the playback of an audio segment. Parameters: - id: id of the audio assigned by the player
$PREFIX/adjust_pitch	nicomsg/sf	Adjusts pitch of an audio segment. Parameters: id of the audio assigned by the player pitch in octaves
$PREFIX/adjust_speed	nicomsg/sf	Adjusts speed of an audio segment. Parameters: id of the audio assigned by the player factor by which to change speed

Exposed services

The following ROS services are exposed by the class - where $PREFIX stands for the prefix of the topics/services (Default: /nico/audioplayer):

ROS topic name	Message type	Short description
$PREFIX/load_file	nicomsg/LoadAudio	Loads (part) of the given audiofile Parameters: filename: file to load start_seconds: point from which on to load the audio duration_seconds: duration of the segment to load (loads full file if 0) Returns id assigned by the player
$PREFIX/get_position	nicomsg/GetValue	Returns current playback position of the given audio. Parameters: id of the audio assigned by the player
$PREFIX/get_duration	nicomsg/GetValue	Returns duration of the given audio. Parameters: id of the audio assigned by the player
$PREFIX/get_filename	nicomsg/GetFilename	Returns filename of the given audio. Parameters: id of the audio assigned by the player
$PREFIX/get_audio_ids	nicomsg/GetAudioIDs	Returns ids of all loaded audio segments

Class documentation