Audio

(TODO: describe audio in/out)

Periodic Audio Scanner

Periodically scans for newly connected or disconnected input and output audio devices. If a change is discovered, the new lists of input and output audio devices are transmitted to the Monitors.

Audio Input

Samples read from the current audio input device are broadcast to the /audio_in ROS topic.

Audio Output

Samples received from the /audio_out ROS topic are sent to the current audio output device.