odas_ros and audio_utils output

[rcodddow]

I have setup odas_ros using <alsa_input.usb-SEEED_ReSpeaker_4_Mic_Array__UAC1.0_-00.multichannel-input> and the sound source localization from the topic /odas/ssl seems to be correct. Is there anyway to configure odas_ros to output [audio_utils/AudioFrame] messages from one or more of the input channels ? I would like to run sound classification alongside the sound source location from odas_ros.

[philippewarren]

You can run a audio_utils capture_node to capture the sound input, then send it both to ODAS and your sound classification setup using the capture_node output topic. The odas_ros input topic called raw is where you would send that raw input.

There is a similar setup in the T-Top robot repo:

• capture_node
• odas_ros with the input on the raw topic

[Devin-Pi]

You can run a audio_utils capture_node to capture the sound input, then send it both to ODAS and your sound classification setup using the capture_node output topic. The odas_ros input topic called raw is where you would send that raw input.

There is a similar setup in the T-Top robot repo:

• capture_node
• odas_ros with the input on the raw topic

Hi, thanks for your code!

I'd like to ask where this raw topic came from.
I am working on the deployment of this on the Jetson Nano. However, I found that I cannot find the raw topic data.

Looking forward to your reply!

[philippewarren]

The raw topic is the input topic of the odas_ros node. You need to send raw audio data to this topic.

I'm adding back the links as they broke during the ROS2 migration:

If you're on ROS2:

• capture_node
• odas_ros with the input on the raw topic

Or on ROS1:

• capture_node
• odas_ros with the input on the raw topic