1 import kobuki_led_controller
   2 
   3 rospy.init_node('Hello')
   4 
   5 blinker = kobuki_led_controller.LedBlinker()
   6 rospy.loginfo("Blinker : blinker start")
   7 blinker.start() # Starts Led blinker thread.
   8 
   9 rospy.loginfo("Blinker : blinks red")
  10 blinker.set_on_error() # Blinks Red LED
  11 rospy.sleep(3.0)
  12 
  13 rospy.loginfo("Blinker : blinks Green")
  14 blinker.set_on_ok()    # blinks Green LED
  15 rospy.sleep(3.0)
  16 
  17 rospy.loginfo("Blinker : stop blinking")
  18 blinker.set_on_off()   # stop blinking
  19 
  20 rospy.loginfo("Blinker : blinker stops")
  21 blinker.stop()         # stops led blinkder thread.