husarion_ugv_lights

Package used to control the robot lights

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README

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

• lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

• {robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.

• {robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.

• lights_controller_parameters.yaml: Defines parameters for lights_controller_node.

• lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

• lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.

• lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

• lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

• animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.

• controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.

• user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

• diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

• lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.

• lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

• lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

• hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

• frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.

• global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].

• channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.

• channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.