lightring_msg.leds[3].blue = 255;
lightring_msg.leds[3].green = 0;
// LED 4
lightring_msg.leds[4].red = 255;
lightring_msg.leds[4].blue = 0;
lightring_msg.leds[4].green = 255;
// LED 5
lightring_msg.leds[5].red = 0;
lightring_msg.leds[5].blue = 255;
lightring_msg.leds[5].green = 255;
}
// Lights are currently on
else {
// Disable system override. The system will take back control of the lightring.
lightring_msg.override_system = false;
}
// Publish the message
lightring_publisher_->publish(lightring_msg);
// Toggle the lights on status
lights_on_ = !lights_on_;
}
Now the Create® 3 will regain control of the lightring if we press button 1 again.
Your first C++ Node
You have finished writing your first C++ node! The final .cpp file should look like this:
#include <chrono>
#include <functional>
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "irobot_create_msgs/msg/interface_buttons.hpp"
#include "irobot_create_msgs/msg/lightring_leds.hpp"
class TurtleBot4FirstNode : public rclcpp::Node
{
public:
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