rovio: rovio_av | rovio_ctrl | rovio_shared
Package Summary
The rovio_av package contains nodes to control and query the audio/video devices on a WowWee Rovio. Video streaming is provided via the gscam package.
- Author: Russell Toris
- License: BSD
- Repository: wpi-rail-ros-pkg
- Source: git https://github.com/WPI-RAIL/wpi-rail-ros-pkg
Nodes
rovio_audio
rovio_audio can be used to play 8000 Hz 16 bit PCM .wav files on the Rovio. Additionally, included in the rovio_av package is a selection of .wav files (located in the wav directory) that have been converted to 8000 Hz 16 bit PCM (the native format for the Rovio). These files are conversions from Willow Garage's Robot Sound Libraries.Services
wav_play (rovio_shared/wav_play)- Send the given file (given as the absolute file name) to the Rovio to play.
Parameters
/rovio_shared/host (string)- Hostname used to communicate with the Rovio.
- Username used to authenticate with the Rovio.
- Password used to authenticate with the Rovio.
Startup
The rovio_av package contains a rovio_av.launch file which should be edited with the hostname, username and password to login to your Rovio. Additionally, the username, password, and host should be changed in the GSCAM_CONFIG variable in order to stream video using gscam. This file launches an instance of the rovio_audio and gscam nodes. To launch these nodes, the following commands can be used:
With the above nodes running, you can test video streaming with the image_view package using the following command:
1 rosrun image_view image_view image:=/gscam/image_raw
Additionally, an example to test the audio service is the following command:
1 rosservice call /wav_play /path/to/rovio/rovio_av/wav/G22.wav
Support
Please feel free to contact me at any point with questions, comments, and bug reports.