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…dio_common subrepo: subdir: "src/lib/audio_common" merged: "61bfa8348" upstream: origin: "git@github.com:mgonzs13/audio_common.git" branch: "main" commit: "61bfa8348" git-subrepo: version: "0.4.9" origin: "https://github.com/ingydotnet/git-subrepo" commit: "ea10886"
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| self.audio_buffer = np.concatenate([self.audio_buffer, audio_np]) | ||
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| if len(self.audio_buffer) > self.chunk_size: | ||
| self.audio_buffer = self.audio_buffer[-self.chunk_size :] |
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Is there a possibility of cutting of "unheard" valuable sound?
for the package index of `colcon-ros`
which happends, when switching from `STATE_SET` to `STATE_PLAYING` by whistle, but the GameController only delivers the `STATE_PLAYING` after the whistle detection "cooldown".
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to potentially allow logic based on that timestamp in other components
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.
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Summary
In the coming RoboCup competitions, we get extra time if we can detected whistles.
That is why we use ffts where we look at energy in frequencies used by whistles.
The detection is propagated to the body blackboard and integrated into the dsd.
The needed audio common ros packages are put into a subrepo.
The behavior has been tested in sim and on the robot and the whistle detection on my machine.
Proposed changes
It is not arm compatible rn, but that is a future problem.
This is because we need pipewire and the path where it is found is for x86.
Related issues
Solves #753
Checklist
pixi run build