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git subrepo clone git@github.com:ros-drivers/audio_common.git src/lib/
subrepo: subdir: "src/lib" merged: "6a8499665" upstream: origin: "git@github.com:ros-drivers/audio_common.git" branch: "master" commit: "6a8499665" git-subrepo: version: "0.4.9" origin: "https://github.com/ingydotnet/git-subrepo" commit: "ea10886"
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‎src/lib/.github/labeler.yml‎

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github-action:
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- .github/**/*
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audio_capture:
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- audio_capture/**/*
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audio_common:
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- audio_common/**/*
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audio_common_msgs:
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- audio_common_msgs/**/*
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audio_play:
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- audio_play/**/*
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sound_play:
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- sound_play/**/*
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readme:
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- REAEME.md

‎src/lib/.github/workflows/labeler.yml‎

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name: "Pull Request Labeler"
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on:
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- pull_request_target
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permissions:
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contents: read
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jobs:
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triage:
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permissions:
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contents: read
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pull-requests: write
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runs-on: ubuntu-latest
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steps:
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- uses: actions/labeler@v3
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with:
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repo-token: "${{ secrets.GITHUB_TOKEN }}"

‎src/lib/.github/workflows/main.yml‎

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name: ROS1 CI
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on:
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push:
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pull_request:
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schedule:
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- cron: "0 0 * * *"
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jobs:
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industrial_ci:
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strategy:
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matrix:
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env:
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- ROS_DISTRO: melodic
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ROS_REPO: testing
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CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
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- ROS_DISTRO: melodic
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ROS_REPO: testing
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CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release'
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- ROS_DISTRO: noetic
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ROS_REPO: testing
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CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
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- ROS_DISTRO: noetic
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ROS_REPO: testing
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CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release'
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v1
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}

‎src/lib/.gitignore‎

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*.pyc

‎src/lib/.gitrepo‎

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; DO NOT EDIT (unless you know what you are doing)
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;
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; This subdirectory is a git "subrepo", and this file is maintained by the
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; git-subrepo command. See https://github.com/ingydotnet/git-subrepo#readme
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;
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[subrepo]
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remote = git@github.com:ros-drivers/audio_common.git
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branch = master
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commit = 6a84996653eada328f6ea7b14e1804e9876aa3af
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parent = 47da9a5c909072613a4b43ac0ff2f2368e4d2048
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method = merge
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cmdver = 0.4.9

‎src/lib/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2009, Willow Garage, Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎src/lib/README.md‎

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# ROS audio\_common Package
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[![ROS1 CI](https://github.com/ros-drivers/audio_common/actions/workflows/main.yml/badge.svg)](https://github.com/ros-drivers/audio_common/actions/workflows/main.yml)
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[![ROS2 CI](https://github.com/ros-drivers/audio_common/actions/workflows/ros2.yml/badge.svg)](https://github.com/ros-drivers/audio_common/actions/workflows/ros2.yml)
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This repository contains the ROS audio\_common package.
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For user documentation, please refer to the [ROS Wiki page for audio\_common](http://wiki.ros.org/audio_common)
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## Deb Build Status
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| Package | Melodic (Bionic) | Noetic (Focal) | Noetic (Buster) |
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|:---------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| audio_common (arm64) | [![Build Status](http://build.ros.org/job/Mbin_ubv8_uBv8__audio_common__ubuntu_bionic_arm64__binary/badge/icon)](http://build.ros.org/job/Mbin_ubv8_uBv8__audio_common__ubuntu_bionic_arm64__binary) | [![Build Status](http://build.ros.org/job/Nbin_ufv8_uFv8__audio_common__ubuntu_focal_arm64__binary/badge/icon)](http://build.ros.org/job/Nbin_ufv8_uFv8__audio_common__ubuntu_focal_arm64__binary) | [![Build Status](http://build.ros.org/job/Nbin_dbv8_dBv8__audio_common__debian_buster_arm64__binary/badge/icon)](http://build.ros.org/job/Nbin_dbv8_dBv8__audio_common__debian_buster_arm64__binary) |
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| audio_common (armhf) | [![Build Status](http://build.ros.org/job/Mbin_ubhf_uBhf__audio_common__ubuntu_bionic_armhf__binary/badge/icon)](http://build.ros.org/job/Mbin_ubhf_uBhf__audio_common__ubuntu_bionic_armhf__binary) | [![Build Status](http://build.ros.org/job/Nbin_ufhf_uFhf__audio_common__ubuntu_focal_armhf__binary/badge/icon)](http://build.ros.org/job/Nbin_ufhf_uFhf__audio_common__ubuntu_focal_armhf__binary) | --- |
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| audio_common (i386) | --- | --- | --- |
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| audio_common (amd64) | [![Build Status](http://build.ros.org/job/Mbin_uB64__audio_common__ubuntu_bionic_amd64__binary/badge/icon)](http://build.ros.org/job/Mbin_uB64__audio_common__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/job/Nbin_uF64__audio_common__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros.org/job/Nbin_uF64__audio_common__ubuntu_focal_amd64__binary) | [![Build Status](http://build.ros.org/job/Nbin_db_dB64__audio_common__debian_buster_amd64__binary/badge/icon)](http://build.ros.org/job/Nbin_db_dB64__audio_common__debian_buster_amd64__binary) |
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## ROS1 source build
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On ROS Kinetic, Melodic and Noetic, the [master](https://github.com/ros-drivers/audio_common/tree/master) branch is recommended.
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## ROS2 source build
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On ROS2, the [ros2](https://github.com/ros-drivers/audio_common/tree/ros2) branch is recommended
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## Development, Branch and Release Policy
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The `master` branch is currently considered the development branch, and is released into ROS Kinetic, Melodic and Noetic with version numbers in the 0.3.x range.
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`master` is accepting new, non-breaking features and bug fixes.
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Large, breaking changes such as changes to dependencies or the package API will be considered,
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but they will probably be staged into a development branch for release into the next major release of ROS (ROS L)
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## Support
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Please ask support questions on [ROS Answers](http://answers.ros.org/questions/).

‎src/lib/audio_capture/.gitignore‎

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build

‎src/lib/audio_capture/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package audio_capture
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.3.18 (2024-08-13)
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-------------------
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0.3.17 (2023-06-08)
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-------------------
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* Merge pull request `#220 <https://github.com/ros-drivers/audio_common/issues/220>`_ from v4hn/master
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* on real systems publish system clock time in capture node
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* The capture node is hard-coded to alsasrc
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* Contributors: Shingo Kitagawa, v4hn
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0.3.16 (2022-12-23)
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-------------------
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* Merge pull request `#204 <https://github.com/ros-drivers/audio_common/issues/204>`_ from knorth55/audio-capture-stamped
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* add todo comment
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* publish audio stamped in audio_capture.cpp
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* Merge pull request `#216 <https://github.com/ros-drivers/audio_common/issues/216>`_ from knorth55/launch-update
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* update audio_capture launch
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* Contributors: Shingo Kitagawa
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0.3.15 (2022-08-29)
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-------------------
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0.3.14 (2022-08-18)
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-------------------
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0.3.13 (2022-04-07)
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-------------------
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0.3.12 (2021-09-01)
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-------------------
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* Merge branch 'master' into master
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* Contributors: Shingo Kitagawa
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0.3.11 (2021-04-08)
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-------------------
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0.3.10 (2021-01-07)
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-------------------
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* add bitrate in capture launch
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* [audio_capture] Publish audio info once before publishing /audio
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* Contributors: Naoya Yamaguchi, Shingo Kitagawa
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0.3.9 (2020-10-22)
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------------------
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* Merge pull request `#160 <https://github.com/ros-drivers/audio_common/issues/160>`_ from knorth55/add-device-play
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* use ROS_INFO instead of printf
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* Contributors: Shingo Kitagawa
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0.3.8 (2020-09-13)
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------------------
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0.3.7 (2020-08-08)
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------------------
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* Merge pull request `#150 <https://github.com/ros-drivers/audio_common/issues/150>`_ from sktometometo/fix_mp3_options
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Fix property of lamemp3enc element in audio_capture so that the bitrate parameter work properly.
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* fix property of lamemp3enc element so that it will use the specified bitrate
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* Merge pull request `#146 <https://github.com/ros-drivers/audio_common/issues/146>`_ from knorth55/mp3-support
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* use space instead of tab
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* use same caps
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* support channls for mp3
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* Merge pull request `#145 <https://github.com/ros-drivers/audio_common/issues/145>`_ from knorth55/mp3-channel-rate
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[audio_capture] add sample_format in audio_capture
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* Merge pull request `#147 <https://github.com/ros-drivers/audio_common/issues/147>`_ from knorth55/fix-filesink
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[audio_capture] fix filesink for wave format
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* add sample_format arg in capture_to_file.launch
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* fix filesink for wave format
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* add sample_format in audio_capture
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* Contributors: Koki Shinjo, Shingo Kitagawa
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0.3.6 (2020-05-29)
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------------------
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* Merge pull request `#141 <https://github.com/ros-drivers/audio_common/issues/141>`_ from knorth55/add-maintainer
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add maintainer
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* add maintainer
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* Contributors: Shingo Kitagawa
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0.3.5 (2020-04-28)
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------------------
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0.3.4 (2020-04-02)
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------------------
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* Merge branch 'master' of github.com:ros-drivers/audio_common
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* Contributors: Gerard Canal
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0.3.3 (2018-05-22)
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------------------
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0.3.2 (2018-05-02)
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------------------
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* [sound_play] add option to select audio device to play / record (`#87 <https://github.com/ros-drivers/audio_common/issues/87>`_)
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* [sound_play] add option to select audio device to play
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* [sound_play] reformat README to markdown; add usage to set device via rosparam
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* audio_capture: add option for selecting device to use
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* audio_play: add option to select device for playing audio
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* add device argument to launch files
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Conflicts:
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audio_capture/launch/capture.launch
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audio_capture/launch/capture_to_file.launch
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audio_capture/src/audio_capture.cpp
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audio_play/launch/play.launch
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sound_play/scripts/soundplay_node.py
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* Merge pull request `#102 <https://github.com/ros-drivers/audio_common/issues/102>`_ from EndPointCorp/fix_capture_leak
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Fix audio_capture leak
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* Fix audio_capture sample/buffer leak
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* Merge pull request `#90 <https://github.com/ros-drivers/audio_common/issues/90>`_ from prarobo/master
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Error checking code and improvements to launch files
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* Bug fix
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* fix(audio_capture): capturing wave using gst1.0
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0.10-style raw audio caps were being created, according to GStreamer warning. Should be audio/x-raw,format=(string).. now.
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* Merge pull request `#1 <https://github.com/ros-drivers/audio_common/issues/1>`_ from prarobo/fixes
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Error checking code and improvements to launch files
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* Removed default device
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* Added error checking code
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* Added parameters to launch files
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* Contributors: Austin, Matt Vollrath, Prasanna Kannappan, Rokus, Yuki Furuta, prarobo
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0.3.1 (2016-08-28)
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------------------
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* Update to new gstreamer rosdeps
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* #70 can launch these in different namespaces with different microphones, and both are operating.
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* #70 can switch between different microphones, but the first microphone doesn't like the hw:1, it only works with device:="" - so must be doing something wrong still.
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* Add changelogs
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* [audio_capture] add error handler
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* [audio_capture] add option to publish captured audio data as wav format
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Conflicts:
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audio_capture/src/audio_capture.cpp
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* Fixed memory leak (see #18).
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* Removed trailing whitespace.
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* Fixed problem that CMake uses gstreamer-0.1 instead of gstreamer-1.0
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* Added gstreamer 1.0 dependecies
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* Ported to gstreamer 1.0
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package.xml dependencies still missing
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* Update maintainer email
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* Contributors: Benny, Felix Duvallet, Furushchev, Lucas Walter, trainman419
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0.2.11 (2016-02-16)
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-------------------
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* Add changelogs
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* Contributors: trainman419
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0.2.10 (2016-01-21)
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-------------------
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* Add changelogs
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* Contributors: trainman419
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0.2.9 (2015-12-02)
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------------------
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* Add changelogs
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* [audio_capture] add error handler
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* [audio_capture] add option to publish captured audio data as wav format
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* Fixed memory leak (see `#18 <https://github.com/ros-drivers/audio_common/issues/18>`_).
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* Removed trailing whitespace.
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* Contributors: Felix Duvallet, Furushchev, trainman419
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0.2.8 (2015-10-02)
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------------------
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* Update maintainer email
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* Contributors: trainman419
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0.2.7 (2014-07-25)
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------------------
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* audio_capture.cpp has to wait for generated AudioData headers
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* Contributors: v4hn
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0.2.6 (2014-02-26)
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------------------
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* audio_capture and play _require\_ gstreamer, it's not optional
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* Contributors: v4hn
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0.2.5 (2014-01-23)
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------------------
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* "0.2.5"
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* Contributors: trainman419
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0.2.4 (2013-09-10)
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------------------
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* Update CMakeLists.txt
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* audio_capture: install launchfiles
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* Contributors: David Gossow
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0.2.3 (2013-07-15)
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------------------
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* Fix install rule for audio_capture.
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* Contributors: Austin Hendrix
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0.2.2 (2013-04-10)
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------------------
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0.2.1 (2013-04-08 13:59)
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------------------------
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0.2.0 (2013-04-08 13:49)
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------------------------
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* Finish catkinizing audio_common.
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* Catkinize audio_play.
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* Catkinize audio_capture.
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* Fix typo in package.xml
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* Versions and more URLs.
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* Convert manifests to package.xml
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* Convert audio_capture manifest to package.xml
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* Ditch old makefiles.
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* Updates manifest
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* Updated manifests for rodep2
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* oneiric build fixes, bump version to 0.1.6
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* Removed redundant thread::thread
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* Added a rosdep.yaml file
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* Fixed to use audio_common_msgs
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* Added ability to use different festival voices
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* Updated documentation
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* Added ability to capture to file
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* Fixed ignore files
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* Added hgignore files
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* Audio_capture and audio_play working
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* Making separate audio_capture and audio_play packages
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* Moved audio_transport to audio_capture
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* Contributors: Austin Hendrix, Brian Gerkey, Nate Koenig, nkoenig

‎src/lib/audio_capture/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(audio_capture)
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find_package(catkin REQUIRED COMPONENTS roscpp audio_common_msgs)
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find_package(PkgConfig)
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pkg_check_modules(GST1.0 gstreamer-1.0 REQUIRED)
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find_package(Boost REQUIRED COMPONENTS thread)
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include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GST1.0_INCLUDE_DIRS})
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catkin_package()
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add_executable(audio_capture src/audio_capture.cpp)
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target_link_libraries(audio_capture ${catkin_LIBRARIES} ${GST1.0_LIBRARIES} ${Boost_LIBRARIES})
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add_dependencies(audio_capture ${catkin_EXPORTED_TARGETS})
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install(TARGETS audio_capture
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

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