def callLedsForCmplxMv(self):
fColor = ColorRGBA()
sColor = ColorRGBA()
fColor.r = 1.0
fColor.g = 1.0
fColor.b = 1.0
sColor.r = 0.0
sColor.g = 0.0
sColor.b = 0.0
ledGroup = LedGroup()
ledGroup.ledMask = 3 # binary mask to decide which leds are active
try:
self.LEDS_BLINK(ledGroup, fColor, sColor, rospy.Duration(0.75), rospy.Duration(0.25), rospy.Duration(5), 50)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def callLedsForTurningMv(self, side):
fColor = ColorRGBA()
sColor = ColorRGBA()
fColor.r = 0.5
fColor.g = 1.0
fColor.b = 0.5
sColor.r = 0.0
sColor.g = 0.0
sColor.b = 0.0
ledGroup = LedGroup()
if side == 'LEFT':
ledGroup.ledMask = 1 # binary mask to decide which leds are active
else:
ledGroup.ledMask = 2
try:
self.LEDS_BLINK(ledGroup, fColor, sColor, rospy.Duration(0.75), rospy.Duration(0.25), rospy.Duration(5), 50)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def callLedsForStraightMv(self, status):
fColor = ColorRGBA()
sColor = ColorRGBA()
fColor.r = 0
if status == 'STRAIGHT':
fColor.g = 0
fColor.b = 0.9
else:
fColor.g = 0.9
fColor.b = 0
sColor.r = 0
sColor.g = 0.9
sColor.b = 0
ledGroup = LedGroup()
ledGroup.ledMask = 3 # binary mask to decide which leds are active
try:
self.LEDS_FADE(ledGroup, fColor, sColor, rospy.Duration(0.5), True, rospy.Duration(2), 50)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
