nicoros - AudioStream

The AudioStream class allows to send the audio data through ROS.

To start the interface run:

rosrun nicoros AudioStream.py

Exposed topics

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

ROS topic name	Message type	Short description
$PREFIX/left	nicomsg/hs	latest pyaudio chunk recorded by the left microphone with timestamp (only visible when enabled and the stream is running)
$PREFIX/right	nicomsg/hs	latest pyaudio chunk recorded by the right microphone with timestamp (only visible when enabled and the stream is running)

Exposed services

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

ROS topic name	Message type	Short description
$PREFIX/startStream	nicomsg/StartAudioStream	Starts the audiostream. (only visible if the stream is not running) Parameters: filename of the outputfile (stream is saved after termination) samplerate of the recording enable streaming of left audiochannel? enable streaming of right audiochannel? Returns True if successful.
$PREFIX/stopStream	nicomsg/StopAudioStream	Stops the audiostream. (only visible while stream is running) Returns True if successful.
$PREFIX/getFrameRate	nicomsg/GetIntValue	Returns the samplerate at which the stream is recorded. (only visible while running)
$PREFIX/getSampleWidth	nicomsg/GetIntValue	Returns the samplewidth at which the stream is recorded. (only visible while running)

Class documentation