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= AUTHORS = * François Grondin * Vincent Rousseau * François Ferland * Dominic Létourneau ROS Interface to IntRoLab's ManyEars audio sound source localization, tracking and separtion algorithm. More information on ManyEars can be found here: http://manyears.sourceforge.net ROS Installation instructions can be found here: http://www.ros.org = USAGE = == CONFIGURATION == 0) Make sure your sound card & microphone are working! 1) You must configure your microphone array before starting the system. Use the ManyEars GUI to position your individual microphones and tune the system. $> rosrun manyears ManyEars Once done, save the configuration file for usage with the launch files using the "Parameters->Save the parameters of the system" menu. 2) Modify the launch files to fit your configuration. Edit the file "manyears_ros/launch/manyears_live.launch" and change the line "<param name="config_file" value="$(find manyears_ros)/data/small_cube.mes" />" with your saved configuration at step 1). 3) Modify the pose of the array according to /base_link. If you want the source to be positioned properly, change the position of the micro_center_link in "manyears_ros/launch/manyears_pose.launch". == STARTING THE SYSTEM == $> roslaunch manyears_ros manyears_complete_live.launch Separated sources will be stored in the /tmp directory in the WAV format. == ROS TOPICS AVAILABLE == $> rostopic list /manyears/source_pose --->Sources positions (using TF) /manyears/sources_info --->Sources informations (ids, positions, separated information 48000Hz, normalized floats[-1,1]) /manyears/stream --->Audio stream from the sound card, 48000Hz, 16 bits, LE. /rosout /rosout_agg /tf == VISUALISATION OF SOURCES POSES WITH RVIZ == You can configure RViz to visualize the source pose. Have a look at this screenshot for a sample. http://introlab.github.com/introlab-ros-pkg/images/ManyEars-ROS.png == NEED A SOUND CARD ? == We have made our sound card "Open Source". Please visit : http://eightsoundsusb.sourceforge.net