odas_ros and audio_utils output

[rcodddow]

I have setup odas_ros using and the sound source localization from the topic /odas/ssl seems to be correct. Is there anyway to configure odas_ros to output [audio_utils/AudioFrame] messages from one or more of the input channels ? I would like to run sound classification alongside the sound source location from odas_ros.

[philippewarren]

You can run a audio_utils capture_node to capture the sound input, then send it both to ODAS and your sound classification setup using the capture_node output topic. The odas_ros input topic called raw is where you would send that raw input.

There is a similar setup in the T-Top robot repo:

• capture_node
• odas_ros with the input on the raw topic