test_led_array.py

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#!/usr/bin/env python

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import roslib; roslib.load_manifest('kobuki_testsuite')
import rospy

from kobuki_msgs.msg import Led

colours = ["Black", "Green", "Orange", "Red"]

rospy.init_node("test_led_array")
pub = []
pub.append(rospy.Publisher('/mobile_base/commands/led1',Led))
pub.append(rospy.Publisher('/mobile_base/commands/led2',Led))
rate = rospy.Rate(1)
leds = []
leds.append(Led())
leds.append(Led())
leds[0].value = Led.GREEN
leds[1].value = Led.BLACK
rate.sleep()

while not rospy.is_shutdown():
    for led in leds:
        if led.value == Led.GREEN:
            led.value = Led.ORANGE
        elif led.value == Led.ORANGE:
            led.value = Led.RED
        elif led.value == Led.RED:
            led.value = Led.BLACK
        elif led.value == Led.BLACK:
            led.value = Led.GREEN
    print "[" + colours[leds[0].value] + "," + colours[leds[1].value] + "]" 
    pub[0].publish(leds[0])
    pub[1].publish(leds[1])
    rate.sleep()