Add launch files for audio capture and playback in teleop scene

Author: 05F3759DF

audio_capture/launch/capture_teleop.launch.xml

@@ -0,0 +1,31 @@
+<launch>
+  <!-- arecord -l will show available input devices, use the car number as
+      the first number and the subdevice number as the second in a string
+      like hw:1,0 -->
+  <arg name="dst" default="appsink"/>
+  <arg name="device" default=""/>
+  <arg name="format" default="wave"/>
+  <arg name="bitrate" default="128"/>
+  <arg name="channels" default="1"/>
+  <arg name="depth" default="16"/>
+  <arg name="sample_rate" default="16000"/>
+  <arg name="sample_format" default="S16LE"/>
+  <arg name="ns" default="io_teleop"/>
+  <arg name="audio_topic" default="audio_data" />
+
+  <group>
+    <push-ros-namespace namespace="$(var ns)"/>
+    <node name="audio_capture" pkg="audio_capture" exec="audio_capture_node" output="screen">
+      <remap from="audio" to="$(var audio_topic)" />
+      <param name="dst" value="$(var dst)"/>
+      <param name="device" value="$(var device)"/>
+      <param name="format" value="$(var format)"/>
+      <param name="bitrate" value="$(var bitrate)"/>
+      <param name="channels" value="$(var channels)"/>
+      <param name="depth" value="$(var depth)"/>
+      <param name="sample_rate" value="$(var sample_rate)"/>
+      <param name="sample_format" value="$(var sample_format)"/>
+    </node>
+  </group>
+
+</launch>

audio_play/launch/play_teleop.launch.xml

@@ -0,0 +1,25 @@
+<launch>
+  <arg name="dst" default="alsasink"/>
+  <arg name="device" default=""/>
+  <arg name="do_timestamp" default="false"/>
+  <arg name="format" default="wave"/>
+  <arg name="channels" default="1"/>
+  <arg name="sample_rate" default="16000"/>
+  <arg name="sample_format" default="S16LE"/>
+  <arg name="ns" default="io_teleop"/>
+  <arg name="audio_topic" default="audio_data" />
+
+  <group>
+    <push-ros-namespace namespace="$(var ns)"/>
+    <node name="audio_play" pkg="audio_play" exec="audio_play_node" output="screen">
+      <remap from="audio" to="$(var audio_topic)" />
+      <param name="device" value="$(var device)"/>
+      <param name="dst" value="$(var dst)"/>
+      <param name="do_timestamp" value="$(var do_timestamp)"/>
+      <param name="format" value="$(var format)"/>
+      <param name="channels" value="$(var channels)"/>
+      <param name="sample_rate" value="$(var sample_rate)"/>
+      <param name="sample_format" value="$(var sample_format)"/>
+    </node>
+  </group>
+</launch>