Installation¶
We use catkin to build our tools. So make sure that you have a working catkin workspace.
Prerequisites & Dependencies¶
The roboy_communication_cognition package. It can be found in the roboy_communication repository (https://github.com/Roboy/roboy_communication). Best practice is to store the repository in the source folder of your catkin workspace.
libgstreamer1.0-0, libgstreamer1.0-dev, libgstreamer-plugins-base1.0-0, libgstreamer-plugins-base1.0-dev,
gstreamer1.0-plugins-ugly & gstreamer1.0-plugins-good, fftw3, libgflags-dev
To have them installed, you need to simply do
sudo apt install <package_name>
In addition doa_estimation is just build and executable on a Raspberry Pi, since it uses it’s Libraries and the current version just works with a Matrix Creator and a Pi.
Using command line¶
Clone the audio repository into the source folder of your catkin workspace.
git clone https://github.com/Roboy/roboy_audio /path/to/catkin_workspace/src/roboy_audio
Navigate to your catkin workspace.
cd /path/to/catkin_workspace
Make the packages. The available packages are: doa_estimation, roboy_audio_stream
catkin_make --pkg <package_name>
Have fun with roslaunch.
Start the direction of arrival estimation
roslaunch doa_estimation matrix_doa.launch
Capture and stream audio from the default audio source
roslaunch roboy_audio_stream capture.launch
Capture and stream audio from the 8 Matrix Creator microphones
roslaunch roboy_audio_stream capture_matrix_mics.launch
Start the stream receiver template node
roslaunch roboy_audio_stream receive_py.launch
Using IDE (Clion)¶
Clone the audio repository.
git clone https://github.com/Roboy/roboy_audio
Now open the CMakeLists.txt from the package that you want to edit.