From 56d8db0f52f4a84bec6a44657cb05d56adcb8426 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <shinjo@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 4 Jul 2021 10:44:21 +0900
Subject: [PATCH] [jsk_spot_startup] add front microphone (#27)

---
 .../launch/include/interaction.launch         |  2 +-
 .../launch/include/peripheral.launch          | 37 ++++++++++++++++++-
 2 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/jsk_spot_robot/jsk_spot_startup/launch/include/interaction.launch b/jsk_spot_robot/jsk_spot_startup/launch/include/interaction.launch
index 68910b10aa..41cb01114b 100644
--- a/jsk_spot_robot/jsk_spot_startup/launch/include/interaction.launch
+++ b/jsk_spot_robot/jsk_spot_startup/launch/include/interaction.launch
@@ -2,7 +2,7 @@
     <arg name="speech_recognition_language" default="japanese" />
     <arg name="speech_recognition_network" default="online" />
 
-    <arg name="audio_topic" default="/speech_audio" />
+    <arg name="audio_topic" default="/webrtcvad_ros/speech_audio" />
 
     <!-- sound_play for english -->
     <node pkg="sound_play" type="soundplay_node.py" name="sound_play" respawn="true">
diff --git a/jsk_spot_robot/jsk_spot_startup/launch/include/peripheral.launch b/jsk_spot_robot/jsk_spot_startup/launch/include/peripheral.launch
index 86576712b5..6d24623246 100644
--- a/jsk_spot_robot/jsk_spot_startup/launch/include/peripheral.launch
+++ b/jsk_spot_robot/jsk_spot_startup/launch/include/peripheral.launch
@@ -1,6 +1,7 @@
 <launch>
     <arg name="use_insta_360" default="true"/>
     <arg name="use_respeaker" default="true"/>
+    <arg name="use_front_mirophone" default="true"/>
 
     <!-- insta360 -->
     <include
@@ -17,6 +18,40 @@
         type="respeaker_node.py"
         name="respeaker_node"
         if="$(arg use_respeaker)"
-        />
+        >
+        <remap from="is_speeching" to="/respeaker_node/is_speeching"/>
+        <remap from="sound_direction" to="/respeaker_node/sound_direction"/>
+        <remap from="sound_localization" to="/respeaker_node/sound_localization"/>
+        <remap from="sound_audio" to="/respeaker_node/sound_audio"/>
+        <remap from="speech_audio" to="/respeaker_node/speech_audio"/>
+    </node>
+
+    <!-- front microphone -->
+    <node
+        pkg="audio_capture"
+        type="audio_capture"
+        name="audio_capture"
+        >
+        <rosparam subst_value="true">
+            bitrate: 128
+            device: default
+            channels: 1
+            sample_rate: 16000
+            sample_format: S16LE
+            format: wave
+        </rosparam>
+    </node>
+    <node
+        pkg="webrtcvad_ros"
+        type="webrtcvad_ros.py"
+        name="webrtcvad_ros"
+        >
+        <rosparam>
+            aggressiveness: 1
+            minimum_duration: 0.5
+        </rosparam>
+        <remap from="audio_info" to="/audio_info" />
+        <remap from="audio_data" to="/audio" />
+    </node>
 
 </launch>