making progress on audio conversion

.gitignore

@@ -19,3 +19,4 @@ stretch_description/urdf/exported_urdf/*
 stretch_description/urdf/exported_urdf_previous
 stretch_description/urdf/exported_urdf_previous/*
 stretch_funmap/src/stretch_funmap/cython_min_cost_path.c
+vz_ros_wrappers/bags/

vz_acoustic_scene_analysis/CMakeLists.txt

@@ -0,0 +1,220 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(vz_acoustic_scene_analysis)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
+  # opencv2 # ananya this does not compile
+  roscpp
+  rospy
+  audio_common_msgs
+  sensor_msgs
+  std_msgs
+  message_generation
+)
+
+find_package(PkgConfig)
+pkg_check_modules(GST1.0 gstreamer-1.0 REQUIRED)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED COMPONENTS thread)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  MyAudioInfo.msg
+  MyAudioData.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES vz_acoustic_scene_analysis
+  CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs message_runtime
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${GST1.0_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/vz_ros_wrappers.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(audio_capture scripts/audio_capture.cpp)
+
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(audio_capture ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(audio_capture
+   ${catkin_LIBRARIES}
+   ${GST1.0_LIBRARIES}
+   ${Boost_LIBRARIES}
+)
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS audio_capture
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY launch
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_vz_ros_wrappers.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

vz_ros_wrappers/launch/audio.launch → vz_acoustic_scene_analysis/launch/audio.launch

@@ -2,12 +2,13 @@
     <arg name="device" default="" />
   
     <!-- publish audio data as wav format -->
-    <node name="audio_capture" pkg="vz_ros_wrappers" type="audio_capture" output="screen">
+    <node name="audio_capture" pkg="vz_acoustic_scene_analysis" type="audio_capture" output="screen">
       <param name="device" value="" />
-      <param name="format" value="mp3" />
+      <param name="format" value="wave" />
       <param name="channels" value="1" />
       <param name="depth" value="16" />
       <param name="sample_rate" value="16000" />
       <param name="device" value="$(arg device)" />
     </node>
+    <node pkg="vz_acoustic_scene_analysis" type="ros_interface.py" name="ros_interface" output="screen" />
   </launch>

vz_acoustic_scene_analysis/msg/MyAudioData.msg

@@ -0,0 +1 @@
+uint16[] data

vz_acoustic_scene_analysis/package.xml

@@ -0,0 +1,85 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>vz_acoustic_scene_analysis</name>
+  <version>0.0.0</version>
+  <description>The vz_acoustic_scene_analysis package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="ananya@todo.todo">ananya</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/vz_acoustic_scene_analysis</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cv_bridge</build_depend>
+  <!-- <build_depend>opencv2</build_depend> -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>audio_common_msgs</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>libgstreamer1.0-dev</build_depend>
+  <build_depend>libgstreamer-plugins-base1.0-dev</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <!-- <build_export_depend>opencv2</build_export_depend> -->
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <!-- <exec_depend>opencv2</exec_depend> -->
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <exec_depend>audio_common_msgs</exec_depend>
+  <exec_depend>gstreamer1.0</exec_depend>
+  <exec_depend>gstreamer1.0-plugins-base</exec_depend>
+  <exec_depend>gstreamer1.0-plugins-good</exec_depend>
+  <exec_depend>gstreamer1.0-plugins-ugly</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

vz_ros_wrappers/scripts/audio_capture.cpp → vz_acoustic_scene_analysis/scripts/audio_capture.cpp

@@ -5,8 +5,8 @@
 
 #include <ros/ros.h>
 
-#include "audio_common_msgs/AudioData.h"
-#include "audio_common_msgs/AudioInfo.h"
+#include "vz_acoustic_scene_analysis/MyAudioData.h"
+#include "vz_acoustic_scene_analysis/MyAudioInfo.h"
 
 namespace audio_transport
 {
@@ -39,8 +39,8 @@ namespace audio_transport
         std::string device;
         ros::param::param<std::string>("~device", device, "");
 
-        _pub = _nh.advertise<audio_common_msgs::AudioData>("audio", 10, true);
-        _pub_info = _nh.advertise<audio_common_msgs::AudioInfo>("audio_info", 1, true);
+        _pub = _nh.advertise<vz_acoustic_scene_analysis::MyAudioData>("audio", 10, true);
+        _pub_info = _nh.advertise<vz_acoustic_scene_analysis::MyAudioInfo>("audio_info", 1, true);
 
         _loop = g_main_loop_new(NULL, false);
         _pipeline = gst_pipeline_new("ros_pipeline");
@@ -145,7 +145,7 @@ namespace audio_transport
 
         _gst_thread = boost::thread( boost::bind(g_main_loop_run, _loop) );
 
-        audio_common_msgs::AudioInfo info_msg;
+        vz_acoustic_scene_analysis::MyAudioInfo info_msg;
         info_msg.channels = _channels;
         info_msg.sample_rate = _sample_rate;
         info_msg.sample_format = _sample_format;
@@ -167,7 +167,7 @@ namespace audio_transport
         exit(code);
       }
 
-      void publish( const audio_common_msgs::AudioData &msg )
+      void publish( const vz_acoustic_scene_analysis::MyAudioData &msg )
       {
         _pub.publish(msg);
       }
@@ -182,7 +182,7 @@ namespace audio_transport
 
         GstBuffer *buffer = gst_sample_get_buffer(sample);
 
-        audio_common_msgs::AudioData msg;
+        vz_acoustic_scene_analysis::MyAudioData msg;
         gst_buffer_map(buffer, &map, GST_MAP_READ);
         msg.data.resize( map.size );
 

vz_acoustic_scene_analysis/scripts/ros_interface.py

@@ -0,0 +1,85 @@
+#! /usr/bin/python3
+
+from sklearn.cluster import k_means
+import rospy
+import numpy as np
+from vz_acoustic_scene_analysis.msg import MyAudioData
+from std_msgs.msg import String
+from scipy.io.wavfile import write
+from collections import deque
+import time
+from pathlib import Path
+
+
+
+# Non ROS import
+# import acoustic_scene_analysis as asa
+
+class RosInterface:
+    def __init__(self):
+        home_dir = str(Path.home())
+        self.save_dir = home_dir + "/Music/"
+        # 1) Write subscriber to /audio topic and populate a numpy data structure (array) with the uint8[] data
+        # self.maxSize = 7
+        # self.queue = [None] * 7
+        # self.head = self.tail = -1
+        self.nparray = np.empty(1)
+        self.arraylength = 0
+        self.msg_count = 0
+
+        rospy.Subscriber("/audio", MyAudioData, self.raw_callback)
+
+    def enqueue(self,data):
+        # if queue is full
+        if ((self.tail+1) % self.k == self.head):
+            # convert to mp3
+            # publish mp3
+            # remove the first element (call dequeue)
+            pass
+        elif (self.head == -1):
+            self.head = 0
+            self.tail = 0
+        else:
+            self.tail = (self.tail +1) % self.maxSize
+            self.queue[self.tail] = data
+
+    def dequeue(self):
+        # if empty queue
+        if (self.head == -1):
+            pass
+        # if the self
+        else:
+            temp = self.queue[self.head]
+
+    def raw_callback(self, msg):
+        # print("Length of uint8[]:", len(msg.data))
+        if (self.msg_count < 50):
+            self.arraylength += len(msg.data)
+            np.append(self.nparray,bytes)
+        #     print(len(bytes))
+        # else :
+        #     self.byteArray[self.msg_count] = bytes
+        #     print(len(bytes))
+        self.msg_count += 1 
+
+    def on_shutdown(self):
+        print(str(self.arraylength))
+        write(self.save_dir +'test.wav', self.arraylength, self.nparray)
+        print("check music")
+        pass
+
+# 2) Check you're "Decoding" the audio ROS message correctly by saving to a .wav file
+# 3) Be curious. Listen to the .wav file and see if it sounds gucci, and then maybe twiddle about with the encoding on the audio_capture.cpp, seeing if that changes anything e.g. encoding with mp3 instead.
+# 4) If you've made it this far, well done. Try find Utku's function to pass the np array.
+
+
+if __name__ == '__main__':
+    try:
+        rospy.init_node('ros_interface', anonymous=True)
+        ros_int = RosInterface()
+
+        rospy.on_shutdown(ros_int.on_shutdown)
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        print('Audio converter node failed!')
+        pass

vz_ros_wrappers/CMakeLists.txt

@@ -12,7 +12,6 @@ find_package(catkin REQUIRED COMPONENTS
   # opencv2 # ananya this does not compile
   roscpp
   rospy
-  audio_common_msgs
   sensor_msgs
   std_msgs
 )
@@ -142,8 +141,8 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(audio_capture scripts/audio_capture.cpp)
-add_executable(audio_play scripts/audio_play.cpp)
+
+
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -153,20 +152,9 @@ add_executable(audio_play scripts/audio_play.cpp)
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
-add_dependencies(audio_capture ${catkin_EXPORTED_TARGETS})
-add_dependencies(audio_play ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(audio_capture
-   ${catkin_LIBRARIES}
-   ${GST1.0_LIBRARIES}
-   ${Boost_LIBRARIES}
-)
-target_link_libraries(audio_play
-   ${catkin_LIBRARIES}
-   ${GST1.0_LIBRARIES}
-   ${Boost_LIBRARIES}
-)
+
 
 #############
 ## Install ##
@@ -184,12 +172,7 @@ target_link_libraries(audio_play
 
 ## Mark executables for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-install(TARGETS audio_capture
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-install(TARGETS audio_play
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+
 
 ## Mark libraries for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html

vz_ros_wrappers/audio_common_msgs/CMakeLists.txt

@@ -1,12 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-
-project(audio_common_msgs)
-
-find_package(catkin REQUIRED COMPONENTS message_generation)
-add_message_files(DIRECTORY msg FILES
-  AudioData.msg
-  AudioInfo.msg
-  )
-generate_messages()
-
-catkin_package(CATKIN_DEPENDS message_runtime)

vz_ros_wrappers/audio_common_msgs/msg/AudioData.msg

@@ -1 +0,0 @@
-uint8[] data

vz_ros_wrappers/audio_common_msgs/package.xml

@@ -1,20 +0,0 @@
-<package>
-    <name>audio_common_msgs</name>
-    <version>0.3.12</version>
-    <description>
-       Messages for transmitting audio via ROS
-    </description>
-    <maintainer email="namniart@gmail.com">Austin Hendrix</maintainer>
-    <maintainer email="shingogo.5511@gmail.com">Shingo Kitagawa</maintainer>
-    <author>Nate Koenig</author>
-    <license>BSD</license>
-    <url type="website">http://ros.org/wiki/audio_common_msgs</url>
-    <url type="repository">https://github.com/ros-drivers/audio_common</url>
-    <url type="bugtracker">https://github.com/ros-drivers/audio_common/issues</url>
- 
-    <buildtool_depend>catkin</buildtool_depend>
- 
-    <build_depend>message_generation</build_depend>
- 
-    <run_depend>message_runtime</run_depend>
- </package>

vz_ros_wrappers/package.xml

@@ -52,11 +52,8 @@
   <build_depend>cv_bridge</build_depend>
   <!-- <build_depend>opencv2</build_depend> -->
   <build_depend>roscpp</build_depend>
-  <build_depend>audio_common_msgs</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>libgstreamer1.0-dev</build_depend>
-  <build_depend>libgstreamer-plugins-base1.0-dev</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_export_depend>cv_bridge</build_export_depend>
   <!-- <build_export_depend>opencv2</build_export_depend> -->
@@ -71,12 +68,6 @@
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
-  <exec_depend>audio_common_msgs</exec_depend>
-  <exec_depend>gstreamer1.0</exec_depend>
-  <exec_depend>gstreamer1.0-plugins-base</exec_depend>
-  <exec_depend>gstreamer1.0-plugins-good</exec_depend>
-  <exec_depend>gstreamer1.0-plugins-ugly</exec_depend>
-
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

vz_ros_wrappers/scripts/unit8_to_wav.py

@@ -1,37 +0,0 @@
-#! /usr/bin/python3
-
-import rospy
-import numpy as np
-from audio_common_msgs.msg import AudioData
-from std_msgs.msg import String
-from scipy.io.wavfile import wavf
-
-class D435i:
-    def __init__(self):
-        # 1) Write subscriber to /audio topic and populate a numpy data structure (array) with the uint8[] data
-        self.raw_audio_sub = rospy.Subscriber('/audio', AudioData, self.raw_callback)
-
-        self.byteArray = np.array(1)
-        self.msg_count = 0
-
-    def raw_callback(self, bytes):
-        if (self.msg_count > 0):
-            self.byteArray.append(bytes)
-        else :
-            self.byteArray()
-        self.msg_count += 1 
-
-# 2) Check you're "Decoding" the audio ROS message correctly by saving to a .wav file
-# 3) Be curious. Listen to the .wav file and see if it sounds gucci, and then maybe twiddle about with the encoding on the audio_capture.cpp, seeing if that changes anything e.g. encoding with mp3 instead.
-# 4) If you've made it this far, well done. Try find Utku's function to pass the np array.
-
-    def run(self):
-        while not rospy.is_shutdown():
-            pass
-
-if __name__ == '__main__':
-    try:
-        rospy.init_node('audio_converter', anonymous=True)
-    except rospy.ROSInterruptException:
-        print('Audio converter node failed!')
-        pass