kyleandClaude Sonnet 5.5
ac4e09bf35
audio_state taps the microphone and the speaker monitor with parec and publishes levels, a speaking/listening/quiet activity, and trigger-locked waveform windows; audio itself stays out of ROS. The activity detector calibrates its noise floor at start-up and absorbs steady noise, so a room at -43 dBFS does not read as "listening" forever, and it ignores the mic while the robot speaks. The face arbitrates the state it shows: sleeping (agent side only, so room sound never wakes a face that means "no agent connected") > speaking > listening > thinking > idle, and draws the mouth from the real samples while fresh scope data exists, auto-scaled so a quiet voice is still visible. Checked: a tone played to the sink shows as `speaking` with the mic ignored. The microphone-to-mouth path with a live voice is not yet confirmed. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
20 lines
644 B
XML
20 lines
644 B
XML
<?xml version="1.0"?>
|
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
|
<package format="3">
|
|
<name>hermes_audio</name>
|
|
<version>0.1.0</version>
|
|
<description>Microphone and speaker levels, and speaking/listening state, for the Hermes robot.</description>
|
|
<maintainer email="noreply@example.com">K. Isom</maintainer>
|
|
<license>UNLICENSED</license>
|
|
|
|
<depend>rclpy</depend>
|
|
<depend>std_msgs</depend>
|
|
<exec_depend>python3-numpy</exec_depend>
|
|
|
|
<test_depend>python3-pytest</test_depend>
|
|
|
|
<export>
|
|
<build_type>ament_python</build_type>
|
|
</export>
|
|
</package>
|