How to stream audio from Nao robot?

Question

I would like to create a streaming audio from a Nao to my WPF form.

The only way that i have found is that we can download a recorded sound on Nao over SSH.

But its not a real streaming ...

If anyone has an idea !

Thanks

score 2 · Answer 1 · answered Jul 10 '14 at 12:13

2

run this command on your NAO (login via ssh) gst-launch-0.10 pulsesrc ! audioconvert ! vorbisenc ! oggmux ! tcpserversink port=1234

list via VLC: vlc tcp://IP:1234/

answered Jul 10 '14 at 12:13

Jürgen Brandstetter

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What should be done for this to work? At least can you point to some manual? Because I get only this response: `ERROR: pipeline could not be constructed: no element "pulsesrc"` – gluk47 Oct 07 '14 at 19:18
you need a recent system that embed pulsesrc, 1.14 or worst 2.x – Alexandre Mazel Oct 14 '14 at 13:02
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I was running this on NAO version 2.x – Jürgen Brandstetter Oct 24 '14 at 03:15
@Alexandre Mazel it does not work on 1.14. I guess, I should try upgrading to 2.0 (or manually recompile kernel with, saying, alsaloop module) – gluk47 Oct 31 '14 at 21:38
You can use `alsasrc` instead of `pulsesrc` on older NAOs. – Victor Paléologue Aug 18 '17 at 10:01

score 1 · Answer 2 · answered Feb 19 '13 at 14:01

1

You should look at gstreamer that is embedded in the robot. It would be a bit slow, but it'll be real streaming...

answered Feb 19 '13 at 14:01

Alexandre Mazel

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Did you have any success with it or any manual how to do it? I tried `gst-launch-0.10 alsasrc`, but got only `Device 'default' is busy`. Pulseaudio is not installed on nao. – gluk47 Oct 08 '14 at 21:56

score 0 · Answer 3 · edited Jul 07 '16 at 09:52

For windows: Download the latest pulseaudio (not the official one) and creat a config.pa file with these two lines:

load-module module-native-protocol-tcp listen=0.0.0.0 auth-anonymous=1
load-module module-waveout

Run pulseaudio on your windows machine first with pulseaudio -F config.pa

On your NAO:

pacmd load-module module-tunnel-sink sink_name=nao server=192.168.1.152

(change this address to your windows one. Also make sure pulseaudio is running on windows otherwise this wont work)

qicli call ALAudioDevice._listOutputs

The previous command will show you the index number of the pulseaudio device you just created. Use this number in the next commands

pacmd set-default-sink 1
qicli call ALAudioDevice._setDefaultOutput 1

Thats it. Now everything comes through your pc speakers. index 0 is NAO's soundcard

For Linux: Run this on terminal:

pactl load-module module-rtp-recv

On NAO:

pactl load-module module-null-sink sink_name=nao (creates the sink)
qicli call ALAudioDevice._listOutputs  (checks the index on sink)
qicli call ALAudioDevice._setDefaultOutput 1  
pactl load-module module-rtp-send source=nao.monitor

I find the Linux approach more stable. The TCP one on windows might break after some time.

How to stream audio from Nao robot?

3 Answers3