Microphone

The services r1_gripper/StartMicro and r1_gripper/StopMicro (and similarly for r2_gripper) start and stop acquisition of microphone data.

These data are periodically (about every 30ms) made available under r1_gripper/MicroData (and similarly for r2_gripper) using the audio_common_msgs::AudioData format. See http://wiki.ros.org/audio_common_msgs