test.py

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#!/usr/bin/python
#***************************************************************
#
# Copyright (c) 2010
#
# Fraunhofer Institute for Manufacturing Engineering    
# and Automation (IPA)
#
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#
# Project name: care-o-bot
# ROS stack name: cob_driver
# ROS package name: cob_light
#                                                               
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#                       
# Author: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de
# Supervised by: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de
#
# Date of creation: June 2010
# ToDo:
#
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Fraunhofer Institute for Manufacturing 
#       Engineering and Automation (IPA) nor the names of its
#       contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License LGPL as 
# published by the Free Software Foundation, either version 3 of the 
# License, or (at your option) any later version.
# 
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; withouself.ser = serial.Serial('/dev/ttyUSB0', 230400)t even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU Lesser General Public License LGPL for more details.
# 
# You should have received a copy of the GNU Lesser General Public 
# License LGPL along with this program. 
# If not, see <http://www.gnu.org/licenses/>.
#
#****************************************************************

import time
import roslib
roslib.load_manifest('cob_light')
import rospy
from std_msgs.msg import ColorRGBA

def changeColor():
        pub = rospy.Publisher('light_controller/command', ColorRGBA)
        rospy.init_node('light_test')
        #color in rgb color space ranging from 0 to 1
        red = ColorRGBA()
        red.r = 1
        red.g = 0
        red.b = 0
        red.a = 1
        
        yellow = ColorRGBA()
        yellow.r = 0.4
        yellow.g = 1
        yellow.b = 0
        yellow.a = 1
        
        green = ColorRGBA()
        green.r = 0
        green.g = 1
        green.b = 0
        green.a = 1
        
        blue = ColorRGBA()
        blue.r = 0
        blue.g = 0
        blue.b = 1
        blue.a = 1
        
        white = ColorRGBA()
        white.r = 0.3
        white.g = 1
        white.b = 0.3
        white.g = 1
        
        for color in [red,yellow,green,white,blue,green]:
                rospy.loginfo("Setting rgb to %s [%d, %d, %d]",color.r,color.g,color.b,color.a)
                pub.publish(color)
                time.sleep(3)

if __name__ == '__main__':
    try:
        changeColor()
    except rospy.ROSInterruptException: pass