AIVoiceSystem/catkin_ws/src/snowboy_wakeup/launch/snowboy_wakeup.launch

<launch>
    <arg name="ASR_Topic" default="/voice_system/asr_topic" />
    <arg name="AUDIO_Topic" default="/voice_system/audio_data" />
    <arg name="namespace" default="voice_system" />

    <node ns="$(arg namespace)" name="audio_capture" pkg="audio_capture" type="audio_capture" output="screen" required="true">
        <param name="format" value="wave" />
        <param name="channels" value="1" />
        <param name="depth" value="16" />
        <param name="sample_rate" value="16000" />

        <remap from="audio" to="$(arg AUDIO_Topic)" />
    </node>

    <node ns="$(arg namespace)" pkg="snowboy_wakeup" type="hotword_detector_node" name="snowboy_wakeup" respawn="true">
        <param name="resource_filename" value="$(find snowboy_wakeup)/resources/common.res" />
        <param name="model_filename" value="$(find snowboy_wakeup)/resources/snowboy.umdl" />
        <param name="beep_filename" value="$(find snowboy_wakeup)/resources/ding.wav" />

        <param name="sensitivity_str" value="0.7" type="str" />
        <param name="audio_gain" value="1.0" />
        <param name="asr_topic" value="$(arg ASR_Topic)" />
        <param name="audio_topic" value="$(arg AUDIO_Topic)" />
    </node>
</launch>