Which microphone and speaker hardware for ROS::audio_common?

I have a jetson xavier.
I want to use ROS::audio_common http://wiki.ros.org/audio_common to transfer and receive audio from a control station.
Which hardware would be best suited. Considering easy compatibility with ROS::audio_common.
I am looking for lowest possible latency in audio capturing from mic. I would prefer separate hardware for mic and speaker.

Can somebody explain, how to use Audio Panel Header? Any further driver is required to use it? Is there any adapter which can transform it into separate 3.5 mm jacks of mic and speaker? If the adapter can be made easily, can somebody explain the pins. I didn’t undertand pins #4,#6,#7,#10. What is the ground for headphone channels?

I have gone through post Speech Recognition for Xavier… what supported hardware for Speaker and Mic (No Headsets please)? https://devtalk.nvidia.com/default/topic/1045667/jetson-agx-xavier/speech-recognition-for-xavier-what-supported-hardware-for-speaker-and-mic-no-headsets-please-
I actually dont want to go for flashy hardware. Looking for something basic looking hardware.
This is looking good to me.

Hi, no more can share about ROS, as for the hw problems, you can check the Audio chapter in OEM DG (https://developer.nvidia.com/embedded/dlc/jetson-agx-xavier-series-oem-product-design-guide) and also the reference schematic of carrier board (http://developer.nvidia.com/embedded/dlc/jetson-xavier-developer-kit-carrier-board-design-files) in DLC, the on-board audio codec of dev kit is ALC5658.

Thanks for your reply.

Sorry for ROS reference.

Actually I am unable to decipher the pin layout. Below is what I am able to think.

Mic - [1 IN1P]
Audio out - [6 AUD_MIC_JD]
Ground - [2 GND]
Left - [9 AUD_HPOL]
Right - [5 AUD_HPOR]

Please correct me if I am wrong.
I visited this page also. https://devtalk.nvidia.com/default/topic/1047842/jetson-agx-xavier/xavier-audio-panel-header-j511-connection-to-microphone/

Still not sure about the pin connections.


Given that the audio panel header is compatible with the standard PC interface, you can purchase something like the following to plug in a 3.5mm headphone or microphone …


You can ignore the USB connectors, you just need to connect the 9-pin HD audio connector to Xavier.

Let me know if this helps.