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.

In the end it is mandatory for you to be the superuser when you’re using the audio programs.

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.