Status LEDs:
● POWER: Always ON while turtlebot4_node is running.
● MOTOR: ON when wheels are enabled, OFF when wheels are disabled.
○ Wheel status is reported on the /wheel_status topic.
● COMMS: ON when communication with Create® 3 is active. OFF otherwise.
○ Receiving data on the /battery_state topic implies that communication is active.
● WIFI: ON when an IP address can be found for the Wi-Fi interface specified in the
configuration.
● BATTERY: Colour and pattern will vary based on battery percentage.
○ Battery percentage is received on /battery_state topic.
User LEDs:
The user LEDs can be set by publishing to the /hmi/led topic with a UserLed message.
UserLed message:
● led: Which available LED to use.
○ uint8 USER_LED_1 = 0
○ uint8 USER_LED_2 = 1
● color: Which color to set the LED to.
○ uint8 COLOR_OFF = 0
○ uint8 COLOR_GREEN = 1
○ uint8 COLOR_RED = 2
○ uint8 COLOR_YELLOW = 3
● blink_period: Blink period in milliseconds.
○ uint32 ms
● duty_cycle: Percentage of blink period that the LED is ON.
○ float64 (0.0 to 1.0)
Examples
Set USER_1 to solid green:
ros2 topic pub /hmi/led turtlebot4_msgs/msg/UserLed "led: 0
color: 1
blink_period: 1000
duty_cycle: 1.0" --once
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