CLEARPATH TurtleBot 4 Lite, Руководство пользователя

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TurtleBot4FirstNode()
: Node(
"turtlebot4_first_cpp_node" ), lights_on_( false )
{
// Subscribe to the /interface_buttons topic
interface_buttons_subscriber_ =
this-> create_subscription<irobot_create_msgs::msg::InterfaceButtons>(
"/interface_buttons" ,
rclcpp::SensorDataQoS(),
std::bind(
& TurtleBot4FirstNode::interface_buttons_callback, this , std::placeholders::_1));
// Create a publisher for the /cmd_lightring topic
lightring_publisher_ = this-> create_publisher<irobot_create_msgs::msg::LightringLeds > (
"/cmd_lightring" ,
rclcpp::SensorDataQoS());
}
private :
// Interface buttons subscription callback
void interface_buttons_callback(
const irobot_create_msgs::msg::InterfaceButtons::SharedPtr create3_buttons_msg)
{
// Button 1 is pressed
if (create3_buttons_msg->button_1.is_pressed) {
RCLCPP_INFO( this-> get_logger(), "Button 1 Pressed!" );
button_1_function();
}
}
// Perform a function when Button 1 is pressed.
void button_1_function()
{
// Create a ROS2 message
auto lightring_msg = irobot_create_msgs::msg::LightringLeds();
// Stamp the message with the current time
lightring_msg.header.stamp = this-> get_clock() -> now();
// Lights are currently off
if (!lights_on_) {
// Override system lights
lightring_msg.override_system = true;
// LED 0
lightring_msg.leds[ 0 ].red = 255 ;