# Create a publisher for the /cmd_lightring topic
self
.lightring_publisher =
self
.create_publisher(
LightringLeds,
'/cmd_lightring'
,
qos_profile_sensor_data)
# Interface buttons subscription callback
def
interface_buttons_callback
(self, create3_buttons_msg: InterfaceButtons):
# Button 1 is pressed
if
create3_buttons_msg.button_1.is_pressed:
self.get_logger().info(
'Button 1 Pressed!'
)
self.button_1_function()
# Perform a function when Button 1 is pressed
def
button_1_function
(self):
# Create a ROS2 message
lightring_msg = LightringLeds()
# Stamp the message with the current time
lightring_msg.header.stamp = self.get_clock().now().to_msg()
# Lights are currently of
f
if not
self.lights_on_:
# Override system lights
lightring_msg.override_system = True
# LED 0
lightring_msg.leds[
0
].red =
255
lightring_msg.leds[
0
].blue =
0
lightring_msg.leds[
0
].green =
0
# LED 1
lightring_msg.leds[
1
].red =
0
lightring_msg.leds[
1
].blue =
255
lightring_msg.leds[
1
].green =
0
# LED 2
lightring_msg.leds[
2
].red =
0
lightring_msg.leds[
2
].blue =
0
lightring_msg.leds[
2
].green =
255
# LED 3
lightring_msg.leds[
3
].red =
255
lightring_msg.leds[
3
].blue =
255
lightring_msg.leds[
3
].green =
0
Summary of Contents for TurtleBot 4 Lite
Page 50: ...Running the Light Ring test...
Page 61: ...Adding Displays in Rviz2...
Page 63: ...Camera image displayed in Rviz2...
Page 82: ...TurtleBot 4 Lite with a NED2 arm...
Page 147: ...Color camera diagnostics...
