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Introduction
The Cyborg audio module gathers functionality previously provided by modules cyborg_music and cyborg_text_to_speech, while decoupling output and Cyborg states. The module handles execution of playback and text to speech onto the Cyborg speakers, makes itself available for other modules through ROS topics, and provides executional feedback. A context diagram for the cyborg audio module is presented in Figure 7.1 (AB = Areg Babayan's masters thesis 2019)
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