Hark > Packages > HARK-ROS > HARK-ROS Tutorials > Application of publishing/subscribing HARK std messages

Application of publishing/subscribing HARK std messages

Overview

  • Basic sound source localization network is devided into two (pre-processing and post-processing).
  • The pre-processing includes from AudioStreamFromWave to LocalizaMUSIC.
  • The post-processing includes from SourceTracker to DisplayLocalization.
  • The end of pre-processing publishes localization results.
  • The beginning of post-processing subscribes the localization results.
  • The process is completely independent, so it is also possible to separate network files.

 

 Main Sheet Configuration

  • Required Modules
    • RosNodeGenerator
    • Constant
    • InputStream
    • MAIN_LOOP (Same as LOOP0 in the previous tutorials. This appears after you create iterator sheet.)

 

RosNodeGenerator

 

All description is available at Publishing/Subscribing msg type Topics.

 

Constant

  • Module Description

This module outputs a property parameter with a specific type.

In this example, this specifies input wave file name .

 

  • Module Location
Node list > General > Constant

 

  • Property settings
Name Type Value Explanation
VALUE subnet_param ARG1 Input wave file name

 

If you set ARG1 here, this network file takes one argument from command line.

 

InputStream

  • Module Description

This modules opens the input file which is specified by Constant module.

 

  • Module Location
Node list > IO > InputStream

 

  • Property settings
Name Type Value Explanation
TYPE int
RETRY int

 

MAIN_LOOP

  • Module Description

This is the same as LOOP0 in Publishing/Subscribing msg type Topics.

However, since the iterator sheet has some subnet_param parameters, this module takes some property values.

 

  • Property settings
Name Type Value Explanation
LENGTH int 512 Number of samples in one frame
ADVANCE int 160 Shift length

 

  • Terminal settiongs

Set “INPUT”, “OUTPUT” and “OUTPUT_1” after setting iterator sheet configuration.

 

 Iterator Sheet Configuration

  • Required Modules
    • AudioStreamFromWave
    • MultiFFT
    • LocalizeMUSIC
    • RosHarkMsgsPublisher
    • RosHarkMsgsSubscriber
    • SourceTracker
    • DisplayLocalization

 

AudioStreamFromWave

  • Module Description

This modules reads wave file and outputs multi channel audio stream with a certain window length.

For more detail, see HARK Documentation.

 

  • Module Location
Node list > HARK:AudioIO > AudioStreamFromWave

 

  • Property settings
Name Type Value Explanation
LENGTH subnet_param LENGTH Number of samples in one frame
ADVANCE subnet_param ADVANCE Shift length
USE_WAIT bool false Enable sleep wait in order to realize real time operation.

 

  • Terminal settiongs

Set “INPUT” for this input.
Set “CONDITION” for this output “NOT_EOF”.

 

MultiFFT

  • Module Description

Calculate FFT of input source stream.

For more detail, see HARK Documentation.

 

  • Module Location
Node list > HARK:MISC > MultiFFT

 

  • Property settings
Name Type Value Explanation
LENGTH subnet_param LENGTH Number of samples in one frame
WINDOW string CONJ Window type for FFT
WINDOW_LENGTH subnet_param LENGTH Window length for FFT

 

LocalizeMUSIC

  • Module Description

Main sound source localization module

For more detail, see HARK Documentation.

 

  • Module Location
Node list > HARK:Localization > LocalizeMUSIC

 

  • Property settings

See HARK Document LocalizeMUSIC, and set the value applicable for your environment.

 

RosHarkMsgsPublisher

  • Module Description

This publishes all kinds of the HARK-related ROS msgs as a topic.

The publishing interval is the same as the interval of HARK network file.

 

  • Module Location
Node list > HARK:ROS:IO > RosHarkMsgsPublisher

 

  • Property settings
Name Type Value Explanation
ADVANCE subnet_param ADVANCE Shift length
ENABLE_DEBUG bool false Enable standard output display for debugging
TOPIC_NAME_*** string Leave default value Published ROS topic name
BUFFER_NUM int 100 Number of buffers for published messages
ROS_LOOP_RATE int 100000 Minimum interval for publishing ROS topics
TIMESTAMP_TYPE string ROS_TIME_NOW Time stamp type
ROS_FRAME_ID string HarkRosFrameID ROS frame_id of the message header

 

“TOPIC_NAME_***” means all the parameters related to ROS topic name.

You can change topic names depending on your environment, but leave all as default for this tutorial.

Set ROS_LOOP_RATE large value so that ROS can publish all frame data without packet loss.

  • Terminal settiongs

 

Set “OUTPUT” for this output.

 

RosHarkMsgsSubscriber

  • Module Description

This subscribes all kinds of the HARK-related ROS msgs as a topic.

The module outputs most recent subscribed topic values.

 

  • Module Location
Node list > HARK:ROS:IO > RosHarkMsgsSubscriber

 

  • Property settings
Name Type Value Explanation
STREAM_SELECTION string HarkSource Selector of stream
TOPIC_NAME_HARKSOURCE string HarkSource Subscribed topic names for ROS
ROS_LOOP_RATE int 1000000 Minimum interval for publishing ROS topics
MSG_BUFFER_NUM int 100 Number of buffers for ROS published messages
DATA_BUFFER_NUM int 100 Number of buffers for HARK output (this is used for eliminating packet loss)
REMAIN_LATEST bool false Enable to keep the latest data as output
ENABLE_DEBUG bool false Enable standard output display for debugging

 

Set ROS_LOOP_RATE large value so that ROS can subscribe all frame data without packet loss.

MSG_BUFFER is the number of buffers specified by ROS subscriber.

 

SourceTracker

  • Module Description

Post processing of sound source localization results such as elimination by thresholds.

For more detail, see HARK Documentation.

 

  • Module Location
Node list > HARK:Localization > SourceTracker

 

  • Property settings
Name Type Value Explanation
THRESH float ?? Threshold for elimination of localization result
PAUSE_LENGTH int 1000 Duration frame length of the localization result
MIN_SRC_INTERVAL int 20 Angle range of the one source
MIN_ID int 0 Minimum ID of source locations
DEBUG bool false Enable standard output for debugging

 

“??” means the value changes depending on your environment.

 

DisplayLocalization

  • Module Description

Show the graphical localization result

For more detail, see HARK Documentation.

 

  • Module Location
Node list > HARK:Localization > DisplayLocalization

 

  • Property settings
Name Type Value Explanation
WINDOW_NAME string Source Location Window name of the time-azimuth map
WINDOW_LENGTH int 1000 Window length to show at the same time
VERTICAL_RANGE object <Vector<int>-180 180> Plot range of the vertical axis
PLOT_TIPE string AZIMUTH Coordinate setting for the plotting

 

  • Terminal settiongs

Set “OUTPUT_1” for this output.

 

 Examining the network file

Save the network file before closing [e.g.) LocalizeMUSIC_with_HarkMsgs_Publisher_and_Subscriber.n ]

Open a new terminal and type

roscore

 

Prepare one recorded wave file for the evaluation (YOUR_WAV.wav).

Go back to the previous terminal and run the HARK network file

./LocalizeMUSIC_with_HarkMsgs_Publisher_and_Subscriber.n YOUR_WAV.wav

 

Now, let us check how the ROS system sees the HARK network by rqt_graph.

rosrun rqt_graph rqt_graph

 

You can see that the HARK_MASTER_NODE node tries to subscribe all the HARK-related ROS messages.

Since the RosHarkMsgsPublisher module publishes only the sound source location, only HarkSource is mutually communicated.

Also

rostopic list

returns

/HarkSource
/rosout
/rosout_agg

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