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I read in ros-users someone is working a new libfreenect-based ROS driver. I heard it was possible to capture audio in libfreenect, but haven't found any information on how to do it.

I also found out about a library which supposedly supports Kinect audio capture and has an existing ROS package, HARK (an open-sourced robot audition software).

Haven't tested this out yet, but seems like the way to go so far.

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