From 24dc59b2adc0bd7ca62e8a2335df692c00049d6e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9verin=20Lemaignan?= Date: Tue, 24 Feb 2026 14:49:35 +0100 Subject: [PATCH] audio_capture: make it possible to configure the gstreamer input plugin This is especially useful to use pulseaudio (pulsesrc) instead of alsa, which is convenient when working inside Docker containers --- audio_capture/launch/capture.launch.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/audio_capture/launch/capture.launch.py b/audio_capture/launch/capture.launch.py index d66e27a3..37665715 100644 --- a/audio_capture/launch/capture.launch.py +++ b/audio_capture/launch/capture.launch.py @@ -5,6 +5,7 @@ def generate_launch_description(): + _src = LaunchConfiguration('src') _dst = LaunchConfiguration('dst') _device = LaunchConfiguration('device') _format = LaunchConfiguration('format') @@ -16,6 +17,10 @@ def generate_launch_description(): _ns = LaunchConfiguration('ns') _audio_topic = LaunchConfiguration('audio_topic') + _src_launch_arg = DeclareLaunchArgument( + 'src', + default_value='alsasrc' + ) _dst_launch_arg = DeclareLaunchArgument( 'dst', default_value='appsink' @@ -66,6 +71,7 @@ def generate_launch_description(): ('audio', _audio_topic), ], parameters=[{ + 'src': _src, 'dst': _dst, 'device': _device, 'format': _format, @@ -78,6 +84,7 @@ def generate_launch_description(): ) return LaunchDescription([ + _src_launch_arg, _dst_launch_arg, _device_launch_arg, _format_launch_arg,