CLEARPATH TurtleBot 4 Lite, Руководство пользователя

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Tip
Each RGB value can be set between 0 and 255. You can look up the RGB value of any color
and set it here.
Finally, we publish the message.
self .lightring_publisher.publish(lightring_msg)
Publish the lightring command with a button press
Now we can connect our interface button subscription to our lightring publisher. Simply call
button_1_function inside the interface_buttons_callback .
# 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 ()
Test this out by running the node like before.
Press button 1 and the lightring light should look like this:
Lightring colours controlled with the press of a button!