cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_light | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_tray_sensors | cob_undercarriage_ctrl | cob_utilities
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Package Summary
This package contains scripts to operate the LED lights on Care-O-bot.
- Author: Florian Weisshardt
- License: LGPL
- Repository: care-o-bot
- Source: git git://github.com/ipa320/cob_driver.git
Contents
Hardware Requirements
To use this package you need a Care-O-bot light modul connected via USB.
ROS API
The cob_light package provides a node that connects to the light hardware and offers a message interface over topics.
cob_light.py
The cob_light.py node takes in cob_msgs/Light messages and send this directly to the hardware.Subscribed Topics
command (cob_msgs/Light)- Receives light commands in RGB format.
Parameters
~devicestring (string, default: Required)- Device identifier for hand, e.g. /dev/ttyUSB3
- Baudrate of serial interface, e.g. 230400
Usage/Examples
The package can be used via a launch file which loads all parameters and starts the light node. For starting the light use
roslaunch cob_light light.launch
For including the light in your overall launch file use
<include file="$(find cob_light)/ros/launch/light.launch" />
A sample parameter file could look like this
devicestring: /dev/ttyUSB3 baudrate: 230400
For testing the light you can start a test_script which changes the LEDs to different colors.
rosrun cob_light test.py