bringBackm / ROS-Audio

ROS driver for IFlyTek 6MIC-ARRAY

ROS driver for IFlyTek 6MIC-ARRAY

Project Environment

• Software: Ubuntu 16.04 LTS, ROS Kinetic
• Hardware: IFlyTek XFM-EVB-01, XFM10621, 6MIC-ARRAY

Publisher

1. Microphone Mode

• name: mode_info_pub

• topic: microphone_mode_info

• type: std_msg::Int8

• description: publish the microphone mode

• data range: {-2, 0, 1, 2}

• Data | Description

   0        |    eMicPhone_Closed
   1        |    eMicPhone_Activate
   2        |    eMicPhone_Communicate
   -2       |    eMicPhone_Communicate_Quit
  

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2. Wake-up Angle

• name: angle_pub

• topic: wake_up_angle

• type: std_msg::Int8

• description: publish the wake-up angle

• data rangle: 0~360

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3. Communicate Mode

• name: communicate_pub

• topic: communicate

• type: std_msg::Bool

• description: publish the command to start Python node to record audio

• data rangle: {False, True}

• Data | Description

   False        |    stop record
   True         |    start record
  

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4. Audio Data

• name: wav_pub

• topic: wav_data

• type: std_msg::String

• description: publish the raw audio data in wav format

• data rangle: Unknown

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Subscriber

1. Microphone Command

• name: microphone_cmd_sub

• topic: microphone_mode_cmd

• type: std_msg::Int8

• description: receive commands from user to change the microphone mode

• data rangle: {-2, 0, 2}

• Data | Description

   -2        |    stop communication
   2         |    start communication
   0         |    reset(will not receive audio data until activated or user commands to communicate)
  

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2. Communicate Mode

• name: communicate_sub

• topic: communicate

• type: std_msg::Bool

• description: subscribe the command to start Python node to record audio

• data rangle: {False, True}

• Data | Description

   False        |    stop record
   True         |    start record
  

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