audio_manager_ros2

Generic ROS 2 audio event server.

Quickstart

colcon build --symlink-install --packages-select audio_manager_ros2
source install/setup.bash
ros2 launch audio_manager_ros2 audio_server.launch.py backend:=null mode:=debug

API

• Input topic: /audio/event (audio_manager_ros2/msg/AudioEvent)
• Output topic: /audio/status (audio_manager_ros2/msg/AudioStatus)
• Services:
  • /audio/stop (audio_manager_ros2/srv/Stop)
  • /audio/set_mode (audio_manager_ros2/srv/SetMode)
  • /audio/reload_config (audio_manager_ros2/srv/ReloadConfig)

Usage Examples

Publish a generic event (notification):

ros2 topic pub --once /audio/event audio_manager_ros2/msg/AudioEvent \
"{event_id: 'notification', priority: 120, layer: 'sfx', stop: false, force: true, stamp: {sec: 0, nanosec: 0}, source: 'cli'}"

Inspect status:

ros2 topic echo --once /audio/status

Stop one layer:

ros2 service call /audio/stop audio_manager_ros2/srv/Stop "{layer: 'music'}"

Change mode:

ros2 service call /audio/set_mode audio_manager_ros2/srv/SetMode "{mode: 'normal'}"

Reload config:

ros2 service call /audio/reload_config audio_manager_ros2/srv/ReloadConfig "{}"

Modes

• normal: plays audio normally and logs one line per played event.
• debug: very verbose trace (rx/resolve/skip/preempt/play/...).
• silent: only accepts forced/high-priority/alerts events.
• mute: keeps normal event resolution logic but never outputs audio (logs played events as muted).

Backends

• player_backend: system-player backend with this priority order:
  • gst-play-1.0
  • ffplay
  • paplay
  • aplay
• null_backend: no audio output (useful for CI and simulation).

player_backend limitation:

• portable runtime gain control is not available across all players,
• ducking may fall back to stop/resume behavior for music.

Alternatives

If you need audio transport, capture, streaming, or richer audio pipelines, consider audio_common.