CLEARPATH Turtlebot4 - Page 111

lightring_msg.leds[0].blue = 0;
lightring_msg.leds[0].green = 0;
// LED 1
lightring_msg.leds[1].red = 0;
lightring_msg.leds[1].blue = 255;
lightring_msg.leds[1].green = 0;
// LED 2
lightring_msg.leds[2].red = 0;
lightring_msg.leds[2].blue = 0;
lightring_msg.leds[2].green = 255;
// LED 3
lightring_msg.leds[3].red = 255;
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_;
}
// Interface Button Subscriber
rclcpp::Subscription<irobot_create_msgs::msg::InterfaceButtons>::SharedPtr
interface_buttons_subscriber_;
// Lightring Publisher
rclcpp::Publisher<irobot_create_msgs::msg::LightringLeds>::SharedPtr lightring_publisher_;