Streaming audio from NAO to computer

[Maciej Żurad]

Hi there,

I am working on one project and I would like to stream audio from NAO to the computer.

Has anyone tried that already ? I was thinking about using snd-aloop (ALSA Loop back device) and then streaming the audio with arecord to aplay over SSH.

However opennao doesn't have snd-loop kernel module, I wanted to compile that on opennao-vm, but I cannot find sources of kernel on opennao-vm.

Has anyone tried installing additional kernel modules on NAO ?

If you think about better solution than using snd-aloop for streaming audio, I'd love to hear it.

Thanks in advance.

Maciej

[Vincent Rabaud]

Hi Maciej,

to stream audio you can use the NaoqiMic in naoqi_microphone.py (or the microphone.py node) : this streams from the NAO microphones to ROS using NAOqi.

Depending on what you want to do, you could also use the pulseaudio on the robot straight up.

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[Maciej Żurad]

Hey Vincent,

Thanks for your answer.

The thing is that I want to stream audio output to play it on speakers.

I need it for the demonstration that I am doing, since we are going to have some cooperation with UAVs,

therefore it would be difficult for people to hear NAO.

I tried using pulseaudio and I tried using normal tcp streaming, but it seems that NAO lacks this module

E: [pulseaudio] ltdl-bind-now.c: Failed to open module module-esound-protocol-tcp.so: module-esound-protocol-tcp.so: cannot open shared object file: No such file or directory

E: [pulseaudio] module.c: Failed to open module "module-esound-protocol-tcp".

E: [pulseaudio] main.c: Module load failed.

E: [pulseaudio] main.c: Failed to initialize daemon.

If you know how to solve it, I would greatly appreciate your insight.

Best,

Maciej 

[Vincent Rabaud]

Can you please detail which commands you ran ? Thx. Also, did you try the ROS / NAOqi module microphone.py ? It does streaming too.

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[Maciej Żurad]

I am sorry I didnt explained well.

I am more concerned with the actual audio output of NAO.

I want to use AnimatedSpeech and stream the NAO's audio on some larger speakers connected to the computer running ROS,

First I was thinking about using ALTextToSpeech::sayToFile, prerecording and then playing both on NAO and the speakers connected to the computer.

However, it would be only feasible for normal TTS without animations.

That's why I want to stream audio output.

ALToRosMics allows only for streaming microphone's output.

For streaming with pulseaudio, I checked this StackExchange post.

http://askubuntu.com/questions/28039/how-to-stream-music-over-the-network-to-multiple-computers

Then I uncommented two lines from /etc/pulse/default.pa

> load-module module-esound-protocol-tcp

> load-module module-native-protocol-tcp

Which resulted in the error I described before.

[Surya Ambrose]

Hi,

Yes what you try to do is possible, but AFAIK you need pulseaudio on your computer. This solution does not use ROS, it is pure pulseaudio.

# On the robot (if you want to have sound on both your computer and the robot)
pactl load-module module-rtp-send source=alsa_output.0.output-speakers.monitor

# On the robot (if you want only sound on your computer)

pactl load-module module-null-sink sink_name=nao
qicli call ALAudioDevice._setDefaultOutput 1
pactl load-module module-rtp-send source=nao.monitor

# On your computer

pactl load-module module-rtp-recv

NB:

1) If both your computer and the robot play the sounds, there might be a very sensible delay between the two of them (for me, the delay is about a half second). Be sure to test that in advance ;)

2) I tried only with my computer and my robot on the same LAN network, I don't know if it works otherwise.

3) Anyone on the same LAN network that run the ...rtp-recv command will play the sounds. BUT:

4) when loading the rtp-send module, I think you can specify a unique IP to stream the sound to. The following URL might help you with this

http://www.freedesktop.org/wiki/Software/PulseAudio/Documentation/User/Modules/#index38h3

Hope this will help you :).

Surya

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