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cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control

Package Summary

This package contains scripts to operate the LED lights on Care-O-bot.

  • Maintainer status: developed
  • Maintainer: Benjamin Maidel <bnm AT ipa.fhg DOT de>
  • Author: Benjamin Maidel
  • License: LGPL
  • Source: git https://github.com/ipa320/cob_driver.git (branch: hydro_release_candidate)

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. The current state of the light is published as a visualization marker.

cob_light.py

The cob_light.py node takes in 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 visualization markers.

Subscribed Topics

command (std_msgs/ColorRGBA)
  • Receives color commands in RGBA format.

Published Topics

marker (visualization_msgs/Marker)
  • Publishes the current state of the light.

Parameters

~devicestring (string, default: Required)
  • Device identifier for hand, e.g. /dev/ttyUSB3
~baudrate (int, default: Required)
  • 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_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

Wiki: cob_light (last edited 2012-06-28 09:02:26 by FlorianWeisshardt)