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 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
• Merge branch 'ros2-devel' into add-panther-diagnostics-config
• husarion_ugv_msg -> husarion_ugv_msgs
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-devel
• Merge pull request #460 from husarion/ros2-devel-better-config-dir
• Add husarion_ugv_msgs
• optional config dir
• Merge pull request #457 from husarion/ros2-lynx-devel
• Merge pull request #455 from husarion/ros2-lynx-merge
• fix tests
• use ROBOT_MODEL_NAME env
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-lynx-devel
• Merge pull request #444 from husarion/ros2-config-dir
• fix example
• Merge pull request #438 from husarion/ros2-param-gen
• use configs from /config dir
• Parameter type casts and typo fixes
• Generate node parameters from yaml files
• Ros2 husarion ugv v2 (#422)
• Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Milosz Lagan, Miłosz Łagan, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

• Merge pull request #408 from husarion/ros2-lights-integration-tests
• Avoid pre-commit complains
• Add subscription verification
• Add underscore prefix to private members
• Rename test fixture
• Merge branch 'ros2-devel' into ros2-lights-integration-tests
• Merge pull request #407 from husarion/ros2-lights-tests
• Address review suggestions
• Fix comments
• Implement panther_lights integration tests
• Merge branch 'ros2-devel' into ros2-lights-tests
• Make lights controller tests lightweight
• Implement tests for lights driver
• Test apa102
• Implement APA102Interface remove spatial namespace
• Contributors: Dawid Kmak, pawelirh

2.1.1 (2024-09-05)

• Merge branch 'ros2-devel' into ros2-ns-refactor
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
• Merge pull request #386 from husarion/ros2-unify-filenames
• Reorganize files in panther_battery
• UPdate include guards in panther_lights
• Reorganize files in panther_lights
• Ros2 estop sim gui (#384)
• Merge branch 'ros2-devel' into ros2-ns-refactor
• unify CMakeLists.txt files (#381)
• unify CMakeLists.txt files
• New format of documentation (#369)
• Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

• Ros2 system status tf namespace (#372)
• Ros2 fix lights build (#367)
• Redesign lights initialization process (#365)
• Merge pull request #362 from husarion/ros2-api-reorganization
• Update spiled channel device names (#363)
• Enhance ROS API names in the stack
• Update symlink names (#359)
• Add devices symlink (#347)
• Contributors: Dawid Kmak, Jakub Delicat, pawelirh, rafal-gorecki

2.0.4 (2024-06-28)

• Merge pull request #337 from husarion/ros2-gz-lights
• Merge pull request #343 from husarion/ros2-gpio-controller-revision
• Minor changes based on PR review
• Suggestions and pre-commit update
• Update README.md (#345)
• Merge branch 'ros2-devel' into ros2-gz-lights
• Improve description in header
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-gpio-controller-revision
• Grant hardware access on frame callback
• Merge pull request #342 from husarion/ros2-build-in-animation
• Delete first table
• Merge branch 'ros2' into ros2-build-in-animation
• column name
• Merge table
• Readme - add built-in animation table (#341)
• Use ros2 branch
• Add panther_lights to url
• Use ros2-devel branch
• Update documentation panther_lights and panther_hardware_interfaces
• Redesign initialization
• Absolute url
• Add battery description
• Implement changes in driver node
• Merge branch 'ros2' into ros2-gz-lights
• Steering lights from channel topics
• Contributors: Dawid Kmak, Jakub Delicat, pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

• Merge pull request #320 from husarion/ros2-clear-logs
• MInor logging changes
• Revise logs in panther_lights
• Contributors: Dawid Kmak, pawelirh

2.0.2 (2024-06-05)

• Launch refactor (#307)
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• Fix circular dependency (#311)
• Merge pull request #314 from husarion/ros2-logging
• update
• Changed all RCLCPP logs to streams
• Merge remote-tracking branch 'origin/ros2' into ros2-yaml-format-2-spaces
• Merge pull request #270 from husarion/ros2-remove-obsolate-file
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• added diagnostics remapping and namespace to system_status (#306)
• added remappings to diagnostics
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• Multi robot spawn working (#256)
• remove dummy scheduler header
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, rafal-gorecki

2.0.1 (2024-05-01)

• Merge pull request #264 from husarion/ros2-use-absolute-url
• Absolute URL
• Merge pull request #261 from husarion/ros2-readme
• Pawel sugestions
• Merge branch 'ros2-devel' into ros2-readme
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-os-diagnostics
• Add controller readme
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-os-diagnostics
• Contributors: Jakub Delicat, Paweł Irzyk, rafal-gorecki

2.0.0 (2024-03-29)

• Ros2 namespace (#255)
  • Preparation for namespace
  • Simulation working
  • Hardware look ok

  * Update panther_controller/config/WH01_controller.yaml Co-authored-by: Jakub Delicat <<109142865+delihus@users.noreply.github.com>> * Apply Jakub suggestions Co-authored-by: Jakub Delicat <<109142865+delihus@users.noreply.github.com>>

  • Fix imu
  • Readme
  • Add imu namespace
  • Jakub suggestions
  • Add panther manager to xml
  • pre-commit
  • Fixed ekf
  • Additional remapping
  • fix imu
  • Pawel suggestions (collision with gamepad)
  • cmd_vel

  * Use namespace instead of PushRosNamespace ---------Co-authored-by: Jakub Delicat <<109142865+delihus@users.noreply.github.com>> Co-authored-by: Jakub Delicat <<jakub.delicat@husarion.com>>

• Merge pull request #257 from husarion/ros2-headers Divide Headers into std and local liblaries
• few more
• Group and order improvement
• Rest of fils
• Headers + Copyright
• Merge pull request #234 from husarion/ros2-lights-tests ROS 2 lights tests
• Merge pull request #246 from husarion/ros2-panther-manager ROS 2 panther_manager
• Merge pull request #232 from husarion/ros2-manager-plugins ROS 2 manager plugins
• Clean up
• Add Dawid suggestions
• fix
• Comment
• Test Pass
• Add launch behavior
• Clean up
• Rename
• Almost passing
• Merge branch 'ros2-devel' into ros2-ekf-optimalization
• Rename topics
• Merge branch 'ros2-devel' into ros2-lights-tests
• Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager
• Changed tests' names to PascalCase | added testing::TempDir() | Starting services when there are wrong parameters
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins
• Ros2 lights controller (#241)
  • ROS 2 lights animations (#221)
  • add animation and image_animation class
  • controller node and pluginlib
  • add tests and fix issues
  • add animation images
  • add alpha channel
  • add charging animation with tests
  • update dummy controller
  • fix missing includes
  • add missing dep

  * Update panther_lights/include/panther_lights/animation/animation.hpp Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> * Update panther_lights/include/panther_lights/animation/animation.hpp Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>>

  • review changes

  * update tests ---------Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>>

  • ROS 2 lights converter (#223)
  • add led_segment
  • WIP led_panel and segment converter
  • simplify converter
  • update segment conversion
  • add test for led panel, segment, and converter
  • review fixes
  • update copyright year
  • update controller so it somehow works
  • Update tests
  • Apply review fixes
  • fix gpio tests
  • parse controller configuration
  • add default animation
  • add yaml_utils to panther_utils
  • add led animation and queue
  • Fix queuing
  • fix bug
  • priority and timeout queue validation
  • move queue to separate file
  • add briefs
  • param and brightness handle
  • user animations, bugs, briefs
  • use yaml utils
  • fix tests
  • update tests
  • add led_animation test
  • test fixxes
  • add led animations queue tests
  • clean up code | clean up code
  • Update documentation | add launching controller node
  • make it work
  • update scheduler

  * Update panther_lights/LIGHTS_API.md Co-authored-by: Paweł Irzyk <<108666440+pawelirh@users.noreply.github.com>>

  • review fixes
  • update pre-commit and fix typos

  * Update panther_bringup/README.md Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>> * Update panther_hardware_interfaces/README.md Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>> * Update panther_lights/README.md Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>> * Update panther_lights/test/test_controller_node.cpp Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>>

  • review fixes

  * Update README.md ---------Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> Co-authored-by: Paweł Irzyk <<108666440+pawelirh@users.noreply.github.com>> Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>>

• GPIO release
• add getter
• Next tests
• Clean up
• Add first tests
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller
• Merge pull request #208 from husarion/ros2-control Add ROS 2 control
• Fix IsPinAvailable calls
• Merge branch 'ros2-devel' into ros2-control Conflicts: panther_gpiod/CMakeLists.txt panther_gpiod/package.xml panther_gpiod/src/gpio_driver.cpp
• Update readme in battery and lights after diagnostics changes (#230)
  • Update readme in battery and lights after diagnostics changes

  * Update panther_lights/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> ---------Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

• Ros2 code style fixes (#215)
  • Fix style of cstdint usage in battery
  • Fix style of cstdint usage in lights
  • Unify handling exceptions
  • Fix formatting
• Ros2 diagnostics (#224)
  • Implement diagnostics in panther_battery
  • Correct class diagnostic updater member name
  • Order panther battery dependencies
  • Add diagnostics to panther lights
  • Minor diagnostics changes
  • Improve messages and add broadcasting in lights
  • Add broadcasting in battery node
  • Add additional diagnostic in battery
  • Change pointers policy
  • Review changes
  • Restore LogError
• Merge branch 'ros2-devel' into ros2-control-pdo-commands Conflicts: panther_bringup/launch/bringup.launch.py panther_controller/config/WH01_controller.yaml panther_controller/config/WH02_controller.yaml panther_controller/config/WH04_controller.yaml
• Merge branch 'ros2-devel' into ros2-control Conflicts: panther_bringup/launch/bringup.launch.py panther_controller/config/WH01_controller.yaml panther_controller/config/WH02_controller.yaml panther_controller/config/WH04_controller.yaml
• Manuall merge of ros2-prealpha to ros2-dev (#218)
  • manually merge prealpha with ros2-dev
  • typo and formatting
  • change locks and simplify code
  • add missing library
  • fix build
• Merge branch 'ros2-control' into ros2-control-pdo-commands Conflicts: panther_hardware_interfaces/README.md panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp panther_hardware_interfaces/src/motors_controller.cpp panther_hardware_interfaces/src/panther_system.cpp panther_hardware_interfaces/src/roboteq_driver.cpp
• Merge branch 'ros2-devel' into ros2-control Conflicts: panther_bringup/launch/bringup.launch.py
• ROS 2 lights gpio handle (#213)
  • use gpio driver
  • fix build
  • review fixes
• ROS 2 panther lights (#210)
  • add panther_lights package
  • add ROS 2 lights_driver_node
  • add dummy controller node
  • fix driver
  • fix on shutdown cleanup
  • add ros synchronous client
  • update apa102 driver
  • use service to power up LEDs
  • add Copyright
  • revert add ros synchronous client
  • revert use service to power up LEDs
  • make it work
  • use bool value in SetPowerPin
  • libgpiod installation in CMake
  • rename nodes
  • update README
  • change naming
  • code fixes
  • add brief
  • update authors

  * Update panther_lights/src/apa102.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_lights/src/apa102.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_lights/src/apa102.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes
  • fix lights
  • update methods briefs
  • simplify condition

  * Update panther_lights/src/apa102.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> * Update panther_lights/src/apa102.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

  • review fixes

  * Update panther_lights/src/apa102.cpp Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>> ---------Co-authored-by: Krzysztof Wojciechowski <<49921081+Kotochleb@users.noreply.github.com>>

• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Maciej Stępień, Paweł Irzyk, rafal-gorecki