Description

The ROS beat node monitors pulseaudio output and uses KISS FFT to detect beats-per-minute in real time.

Dependencies

• Pulseaudio

Published Topics

/ros_beat/detection

gizmo-brain listens to this topic to adapt Kuri’s dance moves to the music that she’s currently playing

Parameters

detection_type

The value of this parameter determines which algorithm the ROS Beat node will use to derive the BPM from a trailing time series of detected beats. There are three valid options:

• 0 - Max gap - use the longest interval between trailing beats as the current BPM
• 1 - Top two gaps - use the average of the two longest intervals between trailing beats as the current BPM
• 2 - Harmonic mean - use the harmonic mean of all intervals in the trailing sequence of detected beats, halving beat intervals above 160BPM

We use 1 (top two gaps) by default.

Launch File

ros_beat.launch