RGB light effect controller
Description
RThe RGB lighting controller is used to control all visible RGB lights on the entire machine, including the front light strip, rear light strip, and left/right leg lights of the TITA robot. It can achieve any color for any part of any light bead.
Since this interface uses custom messages, a detailed explanation is provided for this interface.
The front light strip consists of 48 RGB light beads. Each light bead is controlled by four dimensions: red, green, blue, and brightness. Therefore, each light bead can be controlled by data of the uint32_t type, with each dimension occupying 8 bits. The entire light strip can be controlled by an array of uint32_t type data containing 48 elements.
The rear light strip consists of 36 RGB light beads. Each light bead is controlled by four dimensions: red, green, blue, and brightness. Therefore, each light bead can be controlled by data of the uint32_t type, with each dimension occupying 8 bits. The entire light strip can be controlled by an array of uint32_t type data containing 36 elements.
The left leg/right leg light strips each consist of 10 RGB light beads. Each light bead is controlled by three dimensions: red, green, and blue. Therefore, each light bead can be controlled by data of the uint32_t type, with each dimension occupying 8 bits, and the remaining eight bits are meaningless. The entire light strip can be controlled by an array of uint32_t type data containing 10 elements. The left leg and right leg need to be controlled separately.
For example：
uint32_t head_rgb_light[48];
uint32_t tail_rgb_light[36];
uint32_t left_leg_rgb_light[10];
uint32_t right_leg_rgb_light[10];
head_rgb_light[0] = 0x12345678U;
tail_rgb_light[0] = 0x12345678U;
left_leg_rgb_light[0] = 0x12345678U;
right_leg_rgb_light[0] = 0x12345678U;
In this case, the first light bead of the front and rear light strips is set to `0x12345678U`.
This means that the red value for the first light beads of the front and rear lights is `0x12U (18)`, the green value is `0x34U (52)`, the blue value is `0x56U (86)`, and the brightness value is `0x78U (120)`.
The specific lighting effect is the result of the above values mixed together.
The first light bead of the left/right leg light strips is set to `0x12345678U`. T
his means that the red value for the first light bead of the left/right leg light strips is `0x12U (18)`, the green value is `0x34U (52)`, and the blue value is `0x56U (86)`. The `0x78U` value is not used and thus has no significance.
The specific lighting effect is the result of the above values mixed together.
Preparation
Run RGB light controller：
ros2 run rgb_light_controller rgb_light_controller_node
or
ros2 launch rgb_light_controller rgb_light_controller_node.launch.py
Usage
The lighting effect controller provides control interfaces in the form of services, and users have two methods to implement control:
The first method involves directly invoking a debugging command to achieve one-time control：
if control front light：
ros2 service call /system/light_control/head_light_control_srv tita_system_interfaces/srv/HeadLightControlSrv "{is_control: true, light_rgbl_value: [0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00]}"
if control rear light：
ros2 service call /system/light_control/tail_light_control_srv tita_system_interfaces/srv/TailLightControlSrv "{is_control: true, light_rgbl_value: [0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00,0xff00ff00]}"
if control left/right leg light：
ros2 service call /system/light_control/leg_light_control_srv tita_system_interfaces/srv/LegLightControlSrv "{is_control: false, target_leg_light: 1, light_rgbl_value: [0xff00ff00, 0xff00ff00, 0xff00ff00, 0xff00ff00, 0xff00ff00, 0xff00ff00, 0xff00ff00, 0xff00ff00, 0xff00ff00, 0xff00ff00]}"
target_leg_light is 1:left leg，2: right leg
Abandon control by setting `is_control` to `false`.
The second approach involves constructing a Client within the program to send requests to a Service, achieving more efficient and flexible control.
Please refrain from sending requests to the leg light strips at excessively high frequencies, as doing so may interfere with the communication of the leg motors.
Basic Information
Installation method |
Supported platform[s] |
|---|---|
Source |
Jetpack 6.0 , ros-humble |