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Minor quality-of-life fixes for audio_capture #270

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Minor quality-of-life fixes for audio_capture #270

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61c95f9
audio_capture: print out errors in the gstreamer pipeline
severin-lemaignan Feb 24, 2026
09a19ca
audio_capture: document the node parameters
severin-lemaignan Feb 24, 2026
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42 changes: 32 additions & 10 deletions audio_capture/src/audio_capture_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,31 +28,53 @@ namespace audio_capture
std::string device;

// Need to encoding or publish raw wave data
this->declare_parameter<std::string>("format", "mp3");
this->declare_parameter<std::string>("sample_format", "S16LE");
rcl_interfaces::msg::ParameterDescriptor audio_format_param_desc;
audio_format_param_desc.description = "Audio format to encode or publish (mp3 or wave)";
this->declare_parameter<std::string>("format", "mp3", audio_format_param_desc);
rcl_interfaces::msg::ParameterDescriptor sample_format_param_desc;
sample_format_param_desc.description = "Sample format for raw wave data (e.g., S16LE)";
this->declare_parameter<std::string>("sample_format", "S16LE", sample_format_param_desc);

this->get_parameter("format", _format);
this->get_parameter("sample_format", _sample_format);

// The bitrate at which to encode the audio
this->declare_parameter<int>("bitrate", 192);
rcl_interfaces::msg::ParameterDescriptor bitrate_param_desc;
bitrate_param_desc.description = "The bitrate at which to encode the audio";
this->declare_parameter<int>("bitrate", 192, bitrate_param_desc);
this->get_parameter("bitrate", _bitrate);

// only available for raw data
this->declare_parameter<int>("channels", 1);
this->declare_parameter<int>("depth", 16);
this->declare_parameter<int>("sample_rate", 16000);
rcl_interfaces::msg::ParameterDescriptor nb_channels_param_desc;
nb_channels_param_desc.description = "Number of audio channels (only for raw data)";
this->declare_parameter<int>("channels", 1, nb_channels_param_desc);
rcl_interfaces::msg::ParameterDescriptor nb_bits_param_desc;
nb_bits_param_desc.description = "Audio depth in bits (only for raw data)";
this->declare_parameter<int>("depth", 16, nb_bits_param_desc);
rcl_interfaces::msg::ParameterDescriptor sample_rate_param_desc;
sample_rate_param_desc.description = "Sample rate in Hz (only for raw data)";
this->declare_parameter<int>("sample_rate", 16000, sample_rate_param_desc);
this->get_parameter("channels", _channels);
this->get_parameter("depth", _depth);
this->get_parameter("sample_rate", _sample_rate);

// The destination of the audio
this->declare_parameter<std::string>("dst", "appsink");
rcl_interfaces::msg::ParameterDescriptor dst_param_desc;
dst_param_desc.description = "The destination of the audio (e.g., appsink or a "
"filepath; use appsink to publish to ROS)";
this->declare_parameter<std::string>("dst", "appsink", dst_param_desc);
this->get_parameter("dst", dst_type);

// The source of the audio
this->declare_parameter<std::string>("src", "alsasrc");
rcl_interfaces::msg::ParameterDescriptor src_param_desc;
src_param_desc.description =
"The source of the audio (e.g., alsasrc or pulsesrc)";
this->declare_parameter<std::string>("src", "alsasrc", src_param_desc);
this->get_parameter("src", src_type);
this->declare_parameter<std::string>("device", "");
rcl_interfaces::msg::ParameterDescriptor device_param_desc;
device_param_desc.description = "The device of the audio source (e.g., hw:0,0; "
"default is the system default)";
this->declare_parameter<std::string>("device", "", device_param_desc);
this->get_parameter("device", device);

_pub = this->create_publisher<audio_common_msgs::msg::AudioData>("audio", 10);
Expand Down Expand Up @@ -262,7 +284,7 @@ namespace audio_capture
gchar *debug;

gst_message_parse_error(message, &err, &debug);
// RCLCPP_ERROR_STREAM(this->get_logger(), "gstreamer: " << err->message);
RCLCPP_ERROR_STREAM(server->get_logger(), "gstreamer: " << err->message);
g_error_free(err);
g_free(debug);
g_main_loop_quit(server->_loop);
Expand Down