From 635001bf12cb63f23ebb98e12ac9e326cb0f4e24 Mon Sep 17 00:00:00 2001 From: Hongyu Li Date: Tue, 29 Mar 2022 14:11:18 -0400 Subject: [PATCH] Added namespace and units for params --- .../config/audio_params.yaml | 2 +- .../launch/wav_audio.launch | 2 +- .../scripts/stretch_audio.py | 16 ++++++++-------- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/vz_acoustic_scene_analysis/config/audio_params.yaml b/vz_acoustic_scene_analysis/config/audio_params.yaml index 4f25a13..1a280d3 100644 --- a/vz_acoustic_scene_analysis/config/audio_params.yaml +++ b/vz_acoustic_scene_analysis/config/audio_params.yaml @@ -1,4 +1,4 @@ -TIMEOUT: 100000 +TIMEOUT_SECONDS: 100000 VENDOR_ID: 0x2886 PRODUCT_ID: 0x0018 RESPEAKER_RATE: 16000 diff --git a/vz_acoustic_scene_analysis/launch/wav_audio.launch b/vz_acoustic_scene_analysis/launch/wav_audio.launch index 62d5536..ce95e91 100644 --- a/vz_acoustic_scene_analysis/launch/wav_audio.launch +++ b/vz_acoustic_scene_analysis/launch/wav_audio.launch @@ -1,4 +1,4 @@ - + \ No newline at end of file diff --git a/vz_acoustic_scene_analysis/scripts/stretch_audio.py b/vz_acoustic_scene_analysis/scripts/stretch_audio.py index d7c148d..05a54f1 100755 --- a/vz_acoustic_scene_analysis/scripts/stretch_audio.py +++ b/vz_acoustic_scene_analysis/scripts/stretch_audio.py @@ -86,11 +86,11 @@ PARAMETERS = { class Tuning: - TIMEOUT = 100000 + # TIMEOUT = rospy.get_param("/TIMEOUT_SECONDS", 100000) audio_list = [] def __init__(self): - self.TIMEOUT = 100000 + self.TIMEOUT = rospy.get_param("/VZ_ACOUSTIC_SCENE_ANALYSIS/TIMEOUT_SECONDS", 100000) self.dev = usb.core.find(idVendor=0x2886, idProduct=0x0018) if not self.dev: @@ -185,11 +185,11 @@ def get_respeaker_device_id(): return device_id -RESPEAKER_RATE = rospy.get_param("/RESPEAKER_RATE", 16000) -RESPEAKER_CHANNELS = rospy.get_param("/RESPEAKER_CHANNELS", 6) # 6 must flash 6_channels_firmware.bin first -RESPEAKER_WIDTH = rospy.get_param("/RESPEAKER_WIDTH", 2) +RESPEAKER_RATE = rospy.get_param("/VZ_ACOUSTIC_SCENE_ANALYSIS/RESPEAKER_RATE", 16000) +RESPEAKER_CHANNELS = rospy.get_param("/VZ_ACOUSTIC_SCENE_ANALYSIS/RESPEAKER_CHANNELS", 6) # 6 must flash 6_channels_firmware.bin first +RESPEAKER_WIDTH = rospy.get_param("/VZ_ACOUSTIC_SCENE_ANALYSIS/RESPEAKER_WIDTH", 2) RESPEAKER_INDEX = get_respeaker_device_id() -CHUNK = rospy.get_param("/CHUNK", 1024) +CHUNK = rospy.get_param("/VZ_ACOUSTIC_SCENE_ANALYSIS/CHUNK", 1024) class ROSInterface: def __init__(self): @@ -197,8 +197,8 @@ class ROSInterface: self.wav_list = [] self.record_count = 0 # Count how many times we've recorded f seconds of audio self.file_name = "/home/hello-robot/Desktop/output_audio.wav" - self.secs = rospy.get_param("/seconds") - self.chunk_size = rospy.get_param("/chunk_size") + self.secs = rospy.get_param("/VZ_ACOUSTIC_SCENE_ANALYSIS/seconds") + self.chunk_size = rospy.get_param("/VZ_ACOUSTIC_SCENE_ANALYSIS/chunk_size") self.respeaker = Tuning() # Publisher for Audio Data self.audio_data_pub = rospy.Publisher("/wav_data", numpy_msg(VZ_AudioData), queue_size=10)