LEDs

This module controls the chassis and gimbal leds. To expose all functionality for leds/effect (e.g., to configure the effect period) instead of using the SDK method rm:robomaster.led.Led.set_led(), it directly send a robomaster.protocol.ProtoSetSystemLed to the robot.

The robot will switch off all LEDs when initializing this module.

Parameter

parameter leds.enabled bool [Default: false]

Enables all the ROS interface described here, which by default is disabled, like all other modules.

Subscriptions

subscription leds/color std_msgs/msg/ColorRGBA

A simplified interface to set all LEDs to the same color.

subscription leds/effect robomaster_msgs/msg/LEDEffect

The more detailed interface to control LEDs: selection of a group of LEDs, color, effect, and on/off periods. Effects PULSE and SCROLLING are for gimbal LEDs.

When using ON effect (i.e., set a solid color), you can specify a submask for the portion of gimbal LEDs to switch on (the other portions are switched off).