fix(audio): disable audio capture in sim by default

and allow overwriting the `sample_rate` when running `audio.launch`,
as not all driver/device setups allow for the default `sample_rate`
of 16000.
In a future step we should adapt the `whistle_detector` to support
different `sample_rate`s.

Author: texhnolyze

src/bitbots_misc/bitbots_bringup/launch/audio.launch

@@ -1,10 +1,14 @@
 <?xml version="1.0"?>
 <launch>
+    <!-- Our code currently is not sample_rate agnostic, but this must be overwritable to start the audio_capturer_node
+    on some audio drivers/devices if they do not support the default sample_rate of 16000. -->
+    <arg name="sample_rate" default="16000" description="The sample_rate with which the audio should be captured"/>
 
     <node
         pkg="audio_common"
         exec="audio_capturer_node"
         name="audio_capturer_node"
         output="screen">
+        <param name="rate" value="$(var sample_rate)"/>
     </node>
 </launch>

src/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+    <arg name="audio" default="true" description="Whether the audio system should be started" />
     <arg name="behavior" default="true" description="Whether the behavior control system should be started" />
     <arg name="behavior_dsd_file" default="main.dsd" description="The behavior dsd file that should be used" />
     <arg name="game_controller" default="true" description="Whether the Gamecontroller module should be started" />
@@ -16,6 +17,7 @@
 
     <!-- load teamplayer software stack -->
     <include file="$(find-pkg-share bitbots_bringup)/launch/teamplayer.launch">
+        <arg name="audio" value="$(var audio)" />
         <arg name="behavior" value="$(var behavior)" />
         <arg name="behavior_dsd_file" value="$(var behavior_dsd_file)" />
         <arg name="game_controller" value="$(var game_controller)"/>