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Getting started

🚀 Quick Start Examples

See node documentation above for parameters & message formats.

🔊 1. Start Audio Capture Node

Capture microphone input and publish to /audio_stamped.

ros2 run audio_tools audio_capture_node

Custom sample rate & stereo:

ros2 run audio_tools audio_capture_node \
  --ros-args -p sample_rate:=44100 -p channels:=2

🎧 2. Start Playback Node (Default Device)

Play back from /audio_stamped using system default output.

ros2 run audio_tools audio_playback_node \
  --ros-args -p audio_topic:=/audio_stamped

🎛️ 3. Use a Specific Output Device

List devices first (done automatically on launch), then select one:

ros2 run audio_tools audio_playback_node \
  --ros-args -p device_index:=1

🔄 4. Full Loopback Test

Run both nodes to capture & play audio:

# Terminal 1
ros2 run audio_tools audio_capture_node

# Terminal 2
ros2 run audio_tools audio_playback_node \
  --ros-args -p audio_topic:=/audio_stamped

🗣️ 5. Voice Activity Detection

Capture microphone input and publish to /audio_stamped. Simple energy-based Voice Activity Detection (VAD) node on /audio_stamped and publishes detection results to /voice_activity. Note that VAD parameters are set in launch file.

# Terminal 1
ros2 launch audio_tools audio_vad.launch.py

# Terminal 2
ros2 topic echo /voice_activity