## repository: git://github.com/ipa320/care-o-bot
<<PackageHeader(cob_light)>>
<<TOC(4)>>

== 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 board and offers a message interface over [[Topics|topics]]. The current state of the light is published as a [[rviz/DisplayTypes/Marker|visualization marker]].
{{{
#!clearsilver CS/NodeAPI
 name = cob_light.py
 desc = The `cob_light.py` node takes in <<MsgLink(std_msgs/ColorRGBA)>> messages and send this directly to the hardware. If no hardware is present, the node runs in a simulated mode only publishing [[rviz/DisplayTypes/Marker|visualization markers]].

sub{
 0.name = command
 0.type = std_msgs/ColorRGBA
 0.desc = Receives color commands in RGBA format.
}

pub{
 0.name = marker
 0.type = visualization_msgs/Marker
 0.desc = Publishes the current state of the light.
}

param{
 0.name = ~devicestring
 0.type = string
 0.default = Required
 0.desc = Device identifier for hand, e.g. /dev/ttyUSB3
 1.name = ~baudrate
 1.type = int
 1.default = Required
 1.desc = Baudrate of serial interface, e.g. 230400
}

req_tf{
}

prov_tf{
}

}}}

== 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_bringup light.launch
}}}
For including the light in your overall launch file use
{{{
<include file="$(find cob_bringup)/components/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
}}}
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