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Simulated audio sources, microphone sensors and actor behaviour

asked 2016-02-16 09:29:52 -0500

Gradil gravatar image


I have a simulated world with my robot (with several sensors and actuators all of them connected to ROS and passing data), and an actor. (Having Ros Indigo and gazebo 4)

Having this I want to make two diferent questions that might be very relevant for some, as I couldn't find any information that satisfied my curiosity.

1st - Is there any way of adding audio sources in the world and the microphone sensors to detect it?

2nd - Is there anyway of having the actor doing more unpredictable trajectories / react to the world, instead of fixed trajectories define previewsly?

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Not sure if you have to use Gazebo, but take a look at Stage (It also has ROS integration).. There may be an audio sensor in there... http://pooyak.com/work/pubs/pooya-karimian-msc-thesis.pdf (With a quick scan I can't find it in the source though...)

SL Remy gravatar imageSL Remy ( 2016-02-16 09:46:49 -0500 )edit

thanks for the feedback, i'll check that link, and yes Gazebo is my restriction :)

Gradil gravatar imageGradil ( 2016-02-16 12:01:55 -0500 )edit

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answered 2016-02-16 10:08:20 -0500

nkoenig gravatar image
  1. You can add audio sources and sinks in Gazebo using the <audio_source> and <audio_sink> SDF tags. Example world

  2. You can write a plugin for an actor. Your plugin can then control the actor in any manner you desire.

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1.does the <audio_sink> work like a sensor, ie generates a topic with data wich I can access through Ros? 2. can I use the default gazebo actor, or what you are saying is that I should make an actor with a skeleton whose joint are actuated by a Ros Control package like my robot? Thank you for the answer

Gradil gravatar imageGradil ( 2016-02-16 11:00:10 -0500 )edit

Unfortunately it does not. The two tags are minimal front-end to OpenAL, which will generate audio in simulation and output the audio to speakers. For the actor, what I've done in the past is use a walking animation, and then use a plugin to actually move the actor around the scene.

nkoenig gravatar imagenkoenig ( 2016-02-16 11:13:08 -0500 )edit

thanks so much for the feedback, that's really unfortunate but I will see what I can do with this information, and what kind of interaction I can do to simulate what I need (simply generate a sound and check if it comes from the left or right side, i can use contact and two actuators to simulate that interaction manually maybe)

Gradil gravatar imageGradil ( 2016-02-16 11:22:51 -0500 )edit
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Asked: 2016-02-16 09:29:52 -0500

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Last updated: Feb 16 '16