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Merge pull request #207 from clearpathrobotics/rkreinin/lighting
Added lighting section and lighting topics to API
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docs_versioned_docs/version-ros2humble/ros/api/lighting.mdx
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,197 @@ | ||
| --- | ||
| title: Lighting | ||
| sidebar_label: Lighting | ||
| sidebar_position: 5 | ||
| toc_min_heading_level: 2 | ||
| toc_max_heading_level: 5 | ||
| --- | ||
|
|
||
| Corner lighting is unified for platforms that support it (D100, D150, R100, W200). Lighting is controlled by the [lighting node](https://github.com/clearpathrobotics/clearpath_common/tree/humble/clearpath_platform/src/lighting) which defines multiple lighting states. | ||
| The platforms lighting state is determined based on data from multiple platform status topics. Lighting states are given a priority, such that the most important state (lowest priority value) is displayed first. | ||
|
|
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| The lighting node will publish the current lighting command directly to the MCU. It also subscribes to user lighting commands, and will instead publish those user commands if appropriate. | ||
|
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| ## Lighting States | ||
|
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| <table> | ||
| <thead> | ||
| <tr> | ||
| <th>Lighting State</th> | ||
| <th>Lighting Pattern</th> | ||
| <th>Priority</th> | ||
| <th>User commands allowed</th> | ||
| <th>Platform</th> | ||
| </tr> | ||
| </thead> | ||
| <tbody> | ||
| <tr> | ||
| <td>Battery Fault</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/battery_fault.gif").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>0</td> | ||
| <td>No</td> | ||
| <td>D100, D150, R100, W200</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Shore power Fault</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/shore_fault.gif").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>1</td> | ||
| <td>No</td> | ||
| <td>D100, D150</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Shore Power and Charged</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/shore_and_charged.gif").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>2</td> | ||
| <td>Yes</td> | ||
| <td>D100, D150</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Shore Power and Charging</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/shore_and_charging.gif").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>3</td> | ||
| <td>Yes</td> | ||
| <td>D150</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Shore Power</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/shore_power.png").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>4</td> | ||
| <td>Yes</td> | ||
| <td>D100, D150</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Charged</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/charged.png").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>5</td> | ||
| <td>Yes</td> | ||
| <td>D100, D150, R100, W200</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Charging</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/charging.gif").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>6</td> | ||
| <td>Yes</td> | ||
| <td>D150, R100</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Stopped</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/stopped.gif").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>7</td> | ||
| <td>No</td> | ||
| <td>D100, D150, R100, W200</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Needs Reset</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/needs_reset.gif").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>8</td> | ||
| <td>No</td> | ||
| <td>R100</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Low Battery</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/low_battery.gif").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>9</td> | ||
| <td>No</td> | ||
| <td>D100, D150, R100, W200</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Driving</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/driving.png").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>10</td> | ||
| <td>Yes</td> | ||
| <td>D100, D150, R100, W200</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Idle</td> | ||
| <td> | ||
| <center> | ||
| <img | ||
| src={require("./img/idle.png").default} | ||
| width="100" | ||
| /> | ||
| </center> | ||
| </td> | ||
| <td>11</td> | ||
| <td>Yes</td> | ||
| <td>D100, D150, R100, W200</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> |
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