capture.launch

<launch>
  <!-- arecord -l will show available input devices, use the car number as
      the first number and the subdevice number as the second in a string
      like hw:1,0 -->
  <arg name="dst" default="appsink"/>
  <arg name="device" default="plughw:1,0"/>
  <arg name="format" default="wave"/>
  <arg name="bitrate" default="128"/>
  <arg name="channels" default="1"/>
  <arg name="depth" default="16"/>
  <arg name="sample_rate" default="16000"/>
  <arg name="sample_format" default="S16LE"/>
  <arg name="audio_topic" default="audio"/>

  <node name="audio_capture" pkg="audio_capture" type="audio_capture" output="screen">
    <remap from="audio" to="$(arg audio_topic)" />
    <param name="dst" value="$(arg dst)"/>
    <param name="device" value="$(arg device)"/>
    <param name="format" value="$(arg format)"/>
    <param name="bitrate" value="$(arg bitrate)"/>
    <param name="channels" value="$(arg channels)"/>
    <param name="depth" value="$(arg depth)"/>
    <param name="sample_rate" value="$(arg sample_rate)"/>
    <param name="sample_format" value="$(arg sample_format)"/>
  </node>

</launch>