Android app for subscribing and publishing ROS image and audio topic for video conferencing 1. Download and compile latest audio_common package Obtain source code from http://github.com/ros-drivers/audio_common, as of today (2015/11/28) latest version if 40f34ef 2. running image capture, view and audio capture, playr at your computer rosrun audio_capture audio_capture audio:=audio2 _format:=wave _bitrate:=128 _sample_rate:=11025 rosrun audio_play audio_play _dst:=alsasink rosrun image_view image_view image:=/camera/image _ima_transport:=compressed rosrun usb_cam usb_cam_node _name:=camera Known Bugs Currently we're not able to play sound captured by Android device, (at least for me)