husarion_ugv_lights

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
jazzy

Package Summary

Tags	No category tags.
Version	2.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-05-29
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.3.0 (2025-05-19)

Revert "Update changelog"
Revert "2.3.0"
Revert "2.3.0"
Revert "Update changelog"
Reapply "Release 2.3.0 to ros2"
Merge branch 'ros2' of https://github.com/husarion/husarion_ugv_ros into rel-test
Merge pull request #550 from husarion/release-2.3.0
2.3.0
Update changelog
Merge pull request #549 from husarion/revert-546-release-2.3.0
Revert "Release 2.3.0"
Merge pull request #548 from husarion/revert-547-2.3.0-20250425
Revert "Release 2.3.0 to ros2"
Merge pull request #547 from husarion/2.3.0-20250425
Merge pull request #546 from husarion/release-2.3.0
2.3.0
Update changelog
update lights driver config (#543)
Merge remote-tracking branch 'origin/ros2-devel' into change-pat
Merge pull request #518 from husarion/jazzy-devel-hw
Merge branch 'ros2-devel' into jazzy-devel-hw
Migrate simulation code to run on ROS2 Jazzy (#511)
Update minimal cmake version
Update workflow to jazzy
Merge branch 'jazzy-devel-sim' into jazzy-devel-hw
Merge branch 'ros2-devel' into jazzy-devel-sim
Fix deprecated service
Merge branch 'ros2-devel' into jazzy-devel-sim
Merge branch 'jazzy-devel-sim' into jazzy-devel-hw
Merge branch 'ros2-devel' into jazzy-devel-sim
Contributors: Dawid Kmak, Rafal Gorecki, action-bot, github-actions[bot], kmakd, rafal-gorecki, rafal.gorecki

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_lights` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

husarion_ugv_lights package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package used to control the robot lights

Additional Links

Maintainers

Husarion

Authors

Dawid Kmak
Krzysztof Wojciechowski

husarion_ugv_lights

Package used to control the Husarion UGV robot’s lights.

Launch files

This package contains:

lights.launch.py: Responsible for launching the nodes required to control the robot’s lights.

Configuration Files

{robot_model}_animations.yaml: Defines and describes the appearance and parameters of the animations for specific robot.
{robot_model}_driver.yaml: Defines and describes specific hardware configuration for specific robot.
lights_controller_parameters.yaml: Defines parameters for lights_controller_node.
lights_driver_parameters.yaml: Defines parameters for lights_driver_node.

ROS Nodes

LightsControllerNode

This node is of type rclcpp_components is responsible for processing animations and publishing frames to light_driver node.

Publishers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: An animation frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_animation [husarion_ugv_msgs/SetLEDAnimation]: Allows setting animation on Bumper Lights based on animation ID.

Parameters

animations_config_path [string, default: $(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
controller_frequency [float, default: 50.0]: Frequency [Hz] at which the lights controller node will process animations.
user_led_animations_path [string, default: None]: Path to a YAML file with a description of the user defined animations.

LightsDriverNode

This node is of type rclcpp_components is responsible for displaying frames on the robot’s lights.

Publishers

diagnostics [diagnostic_msgs/DiagnosticArray]: Lights diagnostic messages.

Subscribers

lights/channel_1_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Front Bumper Lights.
lights/channel_2_frame [sensor_msgs/Image, encoding: RGBA8, height: 1, width: num_led]: Frame to be displayed on robot Rear Bumper Lights.

Service Servers

lights/set_brightness [husarion_ugv_msgs/SetLEDBrightness]: Allows setting global LED brightness, value ranges from 0.0 to 1.0.

Service Clients

hardware/led_control_enable [std_srvs/SetBool]: Makes SBC controlling LEDs.

Parameters

frame_timeout [float, default: 0.1]: Time in [s] after which an incoming frame will be considered too old.
global_brightness [float, default: 1.0]: LED global brightness. The range between [0.0, 1.0].
channel_1_num_led [int, default: 46]: Number of LEDs in the first bumper.
channel_2_num_led [int, default: 46]: Number of LEDs in the second bumper.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_lights \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

merge front rear animations for docs (#516)
Merge pull request #513 from husarion/ros2-anim-docs-update
update autonomous anim webp
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
undo bad merge
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
update animations
update tests
remove obsolete animation type
update led_segment tests
fix color correction
moving animation tests
moving animation tests wip
update tests
clean up
Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

New animations colors (#503)
Merge pull request #499 from husarion/docs_fix
updated MovingImageAnimation docs
release fixes (#497)
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
Merge pull request #484 from husarion/lights-new
ROS 2 lights new review (#494)
update links
renamed led_animations_queue files
Merge branch 'ros2-devel' into lights-new
removed some unused code
lynx animations
cleaning up duplicate code
review fixes
removed unused tests
Merge pull request #490 from husarion/ros2-fix-bild-warnings
better animations visibility
updated LEDAnimation message
added default position and blinkers config
animation renaming
addedd position mirroring
new animations
fix build warnings
small cleanup
moving image animation mirroring
addedd moving_image_animation plugin
removed brightness
tests improvement
tests are compiling
better logging on animation error
review improvements
Add log level argument to launch files (#473)
more cleanup
precommit 🙃🙃🙃
code cleanup
initial lights layers/alpha suport
Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
Merge pull request #480 from husarion/ros2-cmake-export
Suggestions
Add ament_index_cpp dependency
Add exports to cmake
Parameters reorganisation (#472)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Readme files minor fixes (#463)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs

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Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ros_testing
	ament_index_cpp
	diagnostic_updater
	generate_parameter_library
	husarion_ugv_msgs
	husarion_ugv_utils
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs

System Dependencies

Name
google-mock
libpng-dev

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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