Audio: add mic to recorded message and topic rename

modules/audio/conf/audio_conf.pb.txt

 topic_conf {
-  audio_data_topic_name: "/apollo/microphone"
+  audio_data_topic_name: "/apollo/sensor/microphone"
   audio_detection_topic_name: "/apollo/audio_detection"
 }

modules/audio/dag/audio.dag

@@ -8,7 +8,7 @@ module_config {
             flag_file_path: "/apollo/modules/audio/conf/audio.conf"
             readers: [
                 {
-                    channel: "/apollo/microphone"
+                    channel: "/apollo/sensor/microphone"
                     qos_profile: {
                         depth : 1
                     }

modules/audio/tools/audiosaver.py

@@ -21,7 +21,7 @@ import wave
 from cyber.python.cyber_py3 import cyber
 from modules.drivers.microphone.proto.audio_pb2 import AudioData
 
-RESPEAKER_CHANNEL = "/apollo/microphone"
+RESPEAKER_CHANNEL = "/apollo/sensor/microphone"
 WAV_SAVING_PATH = "/tmp"
 
 

modules/drivers/microphone/conf/respeaker.pb.txt

@@ -3,7 +3,7 @@ chunk: 1024
 sample_rate: 16000
 record_seconds: 6
 sample_width: 2
-channel_name: "/apollo/microphone"
+channel_name: "/apollo/sensor/microphone"
 frame_id: "respeaker"
 channel_type: ASR
 channel_type: RAW

scripts/record_bag.py

@@ -82,6 +82,7 @@ SMALL_TOPICS = [
     '/apollo/sensor/gnss/rtk_eph',
     '/apollo/sensor/gnss/rtk_obs',
     '/apollo/sensor/gnss/heading',
+    '/apollo/sensor/microphone',
     '/apollo/sensor/mobileye',
     '/apollo/storytelling',
     '/tf',