HARMONI Speaker¶
Usage¶
The speaker device is configured in the dockerfiles/config/asoundrc file, whose contents are shown below:
pcm.!default {
type plug
slave {
pcm "hw:0,0"
}
}
ctl.!default {
type hw
card 1n
}
The speaker device is controlled by the hw values, currently listed as 0,0. To choose a speaker you may need to use the command aplay -L to see what devices are available.
Parameters¶
Parameters input for the speaker service:
Parameters |
Definition |
Values |
|---|---|---|
chunk_size |
||
total_channels |
||
audio_rate |
Testing¶
To test that the speaker has been configured properly, use the command roslaunch harmoni_speaker speaker_service.launch which will play a short phrase through the configured device. You may need to experiement with different values to ensure the proper speaker is set up.