cob_light¶

Message types¶

• cob_light/Sequence
• cob_light/ColorRGBAArray
• cob_light/LightMode

cob_light/Sequence¶

Field:	color (std_msgs/ColorRGBA) – hold_time (float32) – cross_time (float32) –

std_msgs/ColorRGBA   color       #sequence color
float32              hold_time   #time how long the color should be hold [s]
float32              cross_time  #time how long it take to fade to this color [s]

cob_light/ColorRGBAArray¶

Field:	colors[] (std_msgs/ColorRGBA) –

std_msgs/ColorRGBA[] colors

cob_light/LightMode¶

Field:	mode (uint8) – color (std_msgs/ColorRGBA) – frequency (float32) – timeout (float32) – pulses (int32) – priority (int8) – colors[] (std_msgs/ColorRGBA) – sequences[] (cob_light/Sequence) –
Constant:	NONE (uint8):0 – STATIC (uint8):1 – FLASH (uint8):2 – BREATH (uint8):3 – BREATH_COLOR (uint8):4 – FADE_COLOR (uint8):5 – SEQ (uint8):6 – CIRCLE_COLORS (uint8):7 – SWEEP (uint8):8 –

uint8 mode                         # mode to switch on
uint8 NONE =           0 	         # will turn everything off
uint8 STATIC =         1 	         # will change the LEDs to "color"
uint8 FLASH =          2 	         # will change the LEDs frequently with "frequency" from "color" to black
uint8 BREATH =         3           # will change the LEDs smoothly with "frequency" from "color" to black
uint8 BREATH_COLOR =   4           # will change the LEDs smoothly with "frequency" from "color" to black
						                       # and flips color in time
uint8 FADE_COLOR =     5           # will fade the colors in rainbow
uint8 SEQ =            6           # executes one sequence after another as definied in sequences array
uint8 CIRCLE_COLORS =  7           # circle through specific colors, if one color is set only one color will circle
                                   # if more than one color is set, that this colors will circle through
uint8 SWEEP =          8           # circle color from front to back on both sides

std_msgs/ColorRGBA     color       #the color which will be used
float32                frequency   # in Hz
float32                timeout 	   # in s, requested mode will be executed for max timout s.
						                       # default is 0 and meens no timeout.
int32                  pulses      # spezifies the amount of pulses which will be executed.
                                   # eg: mode = flash, pulses = 2. Meens the light will flash two times
int8                   priority    # priority [-20,20] default = 0. Modes with same or higher priorities will
                                   # be executed.
std_msgs/ColorRGBA[]   colors      # array of colors for setting all the LEDs
cob_light/Sequence[]   sequences   # an array of sequence definitions, used only if mode is set to SEQ

Service types¶

• cob_light/SetLightMode

cob_light/SetLightMode¶

Field (Request):
	mode (cob_light/LightMode) –
Field (Response):
	active_mode (uint8) – active_priority (uint8) –

cob_light/LightMode mode
---
uint8 active_mode
uint8 active_priority

Action types¶

• cob_light/SetLightMode

cob_light/SetLightMode¶

Field (Goal):	mode (cob_light/LightMode) –
Field (Result):	active_mode (uint8) – active_priority (uint8) –
Field (Feedback):
	active_mode (uint8) – active_priority (uint8) –

The goal

# The goal
cob_light/LightMode mode
---
# The results
uint8 active_mode
uint8 active_priority
---
# The feedback
uint8 active_mode
uint8 active_priority