# 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
self.lightring_publisher.publish(lightring_msg)
# Toggle the lights on status
self.lights_on_ = not self.lights_on_
def main(args=None):
rclpy.init(args=args)
node = TurtleBot4FirstNode()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
To Next Page