audio_sub.py

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#!/usr/bin/env python3
 
import rospy
import pyaudio
 
from audio_common_msgs.msg import AudioData
 
p = pyaudio.PyAudio()
stream = p.open(format=pyaudio.paInt16, channels=1, rate=16000, output=True)
 
 
def audio_callback(audio):
    stream.write(audio.data)
 
 
def audio_subscriber():
    rospy.init_node("audio_subscriber", anonymous=True)
 
    # Sottoscrizione al topic 'audio' con la callback audio_callback
    rospy.Subscriber("/nicla/audio", AudioData, audio_callback)
 
    rospy.loginfo("Nodo audio_subscriber pronto per ricevere audio...")
 
    p = pyaudio.PyAudio()
 
    # Mantenimento del nodo attivo finché non viene interrotto esplicitamente
    rospy.spin()
 
 
if __name__ == "__main__":
    try:
        audio_subscriber()
    except rospy.ROSInterruptException:
        pass