The command aplay only works if preceded by sudo. omxplayer test.wav will play the audio I recorded with arecord just fine. aplay text.wav does not, but sudo aplay test.wav does. The suggestions from this previous thread did not solve the issue. HDMI is definitely the default audio output.
The error I get from aplay test.wav:
aplay: main:788: audio open error: No such file or directory
Similar problems with speaker-test. When doing sudo speaker-test it works, but on its own I get:
Playback open error: -2,No such file or directory
aplay --list-devices returns:
**** List of PLAYBACK Hardware Devices ****
card 0: ALSA [bcm2835 ALSA], device 0: bcm2835 ALSA [bcm2835 ALSA]
Subdevices: 7/7
Subdevice #0: subdevice #0
Subdevice #1: subdevice #1
Subdevice #2: subdevice #2
Subdevice #3: subdevice #3
Subdevice #4: subdevice #4
Subdevice #5: subdevice #5
Subdevice #6: subdevice #6
card 0: ALSA [bcm2835 ALSA], device 1: bcm2835 ALSA [bcm2835 IEC958/HDMI]
Subdevices: 1/1
Subdevice #0: subdevice #0
And ls -l /dev/snd returns
total 0
drwxr-xr-x 2 root root 60 Jul 19 18:22 by-id
drwxr-xr-x 2 root root 80 Jul 19 18:22 by-path
crw-rw----+ 1 root audio 116, 0 Jul 19 18:22 controlC0
crw-rw----+ 1 root audio 116, 32 Jul 19 18:22 controlC1
crw-rw----+ 1 root audio 116, 16 Jul 19 18:22 pcmC0D0p
crw-rw----+ 1 root audio 116, 17 Jul 19 18:22 pcmC0D1p
crw-rw----+ 1 root audio 116, 56 Jul 19 18:22 pcmC1D0c
crw-rw----+ 1 root audio 116, 1 Jul 19 18:22 seq
crw-rw----+ 1 root audio 116, 33 Jul 19 18:22 timer