There is a prototype/stub of audio support for Asus using OpenNI that I put
together earlier this year: http://kforge.ros.org/openni/openni_audio. The
OpenNI aspects are pretty much nailed down, however, one of the big
problems is the lack of support for audio data in ROS. We don't have
the equivalent of "camera_info" and/or "image_transport" for audio data. As
such, there isn't currently a clean, common interface for audio data to go
over, nor much of a toolbox of audio-related stuff to do with the data.

-Fergs

On Wed, Oct 17, 2012 at 9:02 AM, Patrick Goebel <patrick@pirobot.org> wrote:

> **
> I hope this isn't too far off topic, but if the driver gurus out there do
> some work on either the openni or freenect versions, it would be awesome to
> get some audio support for the Kinect's microphones (ditto for the Xtion if
> possible).  This thread on ros-kinect<http://kinect-with-ros.976505.n3.nabble.com/Ros-kinect-kinect-audio-td3171434.html>seems to suggest that audio support is still in a state of flux.  I can
> think of three aspects of driver support (not having a clue how to write a
> driver myself) that would be nice to have in ROS:
>
> * basic audio (used as a regular audio input source)
> * noise canceling (not sure if that takes place in the firmware or driver)
> * sound localization
>
> --patrick
>
>
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