[ros-users] Announcement of HARK repository update

Keisuke Nakamura keisuke at jp.honda-ri.com
Tue May 22 00:28:27 UTC 2012

Hello ROS community,

We are pleased to announce that our ROS repository for open-source robot
audition software "HARK" is just updated.

1) Introduction of HARK

HARK provides auditory functions for robots based on microphone array
processing such as sound source localization and separation, and automatic
speech recognition of separated speech.
A user can make a real-time robot audition system by connecting the prepared
modules on a GUI programming environment, Flowdesigner.
So far, we validated its effectiveness by applying HARK to several robot
platforms like HRP-2, Robovie, SIG.
All the documentation (installation instruction, module documents, cookbook,
some tutorials) can be found at the following website:

2) What are updated?

Recently, HARK 1.1 was released with the following new functions and
 * Supported new microphone array devices: Microsoft Kinect, Sony
PlayStation Eye, Audio-dev Microcone.
 * Released HARK-ROS interface (diamondback, electric, and fuerte)
 * Provided deb packages for Ubuntu 10.04 32bit/64bit (apt-get based
installation is available)
 * Improved sound source localization by introducing a new algorithm,

3) What is HARK-ROS interface?

The following are some examples of ROS topics available from HARK:
 * Multi-channel raw audio stream
 * Multi-channel frequency spectrum after FFT
 * Sound source localization result
 * Separated audio stream after sound source separation
 * Audio features such as MFCC, etc.
 * std_msgs type messages

 * Subscription of above messages
 * Dynamic parameters for audio processing using dynamic_reconfigure
 * std_msgs type messages

4) Online Information

 * Overview of HARK is available at :
 * Information of related papers is at :
 * When you would like to know how HARK works, see our activities at Willow
Garage in 2009 (migration of HARK to Texai)
 * Sound follower tutorial using TurtleBot

We hope that you are interested in HARK.
If you have any question, please do not hesitate to send email to
hark-support at kuis.kyoto-u.ac.jp

Best regards,
HARK support team
hark-support at kuis.kyoto-u.ac.jp

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