CLEARPATH TurtleBot 4 Lite, Руководство пользователя

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This function creates a LightringLeds message and populates the parameters.
We first stamp the message with the current time:
lightring_msg.header.stamp = this-> get_clock() -> now();
Then we set the override_system parameter to true so that our command overrides whatever
commands the Create® 3 is sending to the lightring.
lightring_msg.override_system = true ;
Next, we populate the 6 LEDs in the leds array with whatever colours we want.
// 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 ;
// LED 4
lightring_msg.leds[ 4 ].red = 255 ;
lightring_msg.leds[ 4 ].blue = 0 ;
lightring_msg.leds[ 4 ].green = 255 ;
// LED 5
lightring_msg.leds[ 5 ].red = 0 ;
lightring_msg.leds[ 5 ].blue = 255 ;
lightring_msg.leds[ 5 ].green = 255 ;